MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.6s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	33.3s	12 errors · 311 warnings · 1224 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/2026-08-07-15-52-16-920958-84477018a253-9386 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 14.00sINFOstatic_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' + 14.01sINFOstatic_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' + 14.07sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.08sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 14.08sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.08sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.09sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.10sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 14.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.10sINFOcontroller_managerupdate rate is 600 Hz + 14.10sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.10sINFOcontroller_managerOverruns handling is : enabled + 14.10sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 14.10sWARNcontroller_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. + 14.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.12sINFOcontroller_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. + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980844 ms (missed cycles : 2). + 14.13sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.13sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.13sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.13sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.16sINFOmap_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. + 14.16sINFOmap_serverCreating + 14.16sINFOcontroller_serverCreating controller server + 14.20sINFOlocal_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. + 14.20sINFOlocal_costmap.local_costmapCreating Costmap + 14.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.26sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.27sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.27sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.28sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.29sINFOsmoother_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. + 14.30sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.30sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.32sINFOsmoother_serverCreating smoother server + 14.35sINFOros2_control_node-9process started with pid [9444] ×2 + 14.35sINFOmove_group-21process started with pid [9554] ×2 + 14.35sINFOparameter_manager_node-22process started with pid [9555] ×2 + 14.35sINFOwaypoint_manager_node-23process started with pid [9556] ×2 + 14.35sINFOmove_joint_resampler_node-24process started with pid [9562] ×2 + 14.35sINFOmove_end_effector_resampler_node-25process started with pid [9563] ×2 + 14.35sINFOobjective_server_node_main-26process started with pid [9564] ×2 + 14.35sINFOcomponent_container_mt-27process started with pid [9565] ×2 + 14.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.37sINFOcomponent_container_mt-28process started with pid [9566] ×2 + 14.37sINFOexecute_objective_bridge-29process started with pid [9567] ×2 + 14.38sINFOui_teleop_bridge-30process started with pid [9568] ×2 + 14.38sINFOweb_bridge-31process started with pid [9569] ×2 + 14.38sINFOtf2_web_republisher_node-32process started with pid [9570] ×2 + 14.38sINFOvideo_server-33process started with pid [9571] ×2 + 14.38sINFOweb_bridge_auth_proxy-34process started with pid [9572] ×2 + 14.38sINFOweb_video_auth_proxy-35process started with pid [9574] ×2 + 14.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.38sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.38sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.39sINFOcomponent_container_isolated-1process started with pid [9436] ×2 + 14.39sINFOcomponent_container_isolated-2process started with pid [9437] ×2 + 14.39sINFOstatic_transform_publisher-3process started with pid [9438] ×2 + 14.39sINFOstatic_transform_publisher-4process started with pid [9439] ×2 + 14.39sINFOodom_qos_relay.py-5process started with pid [9440] ×2 + 14.39sINFOforward_stereo_publisher.py-6process started with pid [9441] ×2 + 14.39sINFOscan_to_scan_filter_chain-7process started with pid [9442] ×2 + 14.39sINFOscan_to_scan_filter_chain-8process started with pid [9443] ×2 + 14.39sINFOros2-10process started with pid [9543] ×2 + 14.39sINFOros2-11process started with pid [9544] ×2 + 14.39sINFOros2-12process started with pid [9545] ×2 + 14.39sINFOros2-13process started with pid [9546] ×2 + 14.39sINFOros2-14process started with pid [9547] ×2 + 14.39sINFOros2-15process started with pid [9548] ×2 + 14.39sINFOros2-16process started with pid [9549] ×2 + 14.39sINFOros2-17process started with pid [9550] ×2 + 14.39sINFOros2-18process started with pid [9551] ×2 + 14.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.39sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.41sINFOlifecycle_manager_localizationCreating + 14.41sINFOros2-19process started with pid [9552] ×2 + 14.41sINFOros2-20process started with pid [9553] ×2 + 14.43sINFOplanner_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. + 14.45sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.46sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.46sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.46sINFOmap_serverConfiguring + 14.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.48sINFOplanner_serverCreating + 14.50sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.50sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.50sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.50sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.50sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.50sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.51sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.51sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.51sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.51sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.51sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.51sWARNros2_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 + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980844 ms (missed cycles : 2).[0m ×2 + 14.52sINFOglobal_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. + 14.53sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.53sINFOglobal_costmap.global_costmapCreating Costmap + 14.54sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.55sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.56sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.59sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.60sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.60sINFObehavior_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. + 14.62sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.63sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.63sINFOamclConfiguring + 14.63sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.63sINFOmap_serverActivating + 14.63sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.66sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.71sINFOcontroller_managerReceived robot description from topic. + 14.71sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.71sINFOrobot_state_publisherRobot initialized + 14.72sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.73sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.73sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.73sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.74sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.74sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.74sINFOamclActivating + 14.75sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.75sINFObt_navigatorCreating + 14.75sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.76sINFOamclSubscribed to map_topic: /map + 14.76sINFOamclSubscribed to scan_topic: /scan_merged + 14.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.77sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.77sINFOamclCreated reinitialize_global_localization service + 14.77sINFOamclCreated request_nomotion_update service + 14.78sINFOamclA new map was received + 14.78sINFOamclInitializing particle filter instance + 14.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.78sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.79sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.79sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.82sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.83sINFOwaypoint_followerCreating + 14.83sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.83sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.84sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.84sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.85sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.91sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.91sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.91sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.92sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.95sINFOlifecycle_manager_navigationCreating + 14.97sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.99sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.99sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.99sINFOcontroller_serverConfiguring controller interface + 14.99sINFOcontroller_servergetting progress checker plugins.. + 14.99sINFOcontroller_servergetting goal checker plugins.. + 14.99sINFOcontroller_serverController frequency set to 20.0000Hz + 14.99sINFOlocal_costmap.local_costmapConfiguring + 15.01sWARNlaser_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. + 15.01sWARNlaser_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. + 15.02sWARNscan_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 + 15.03sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.280212 seconds + 15.03sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 15.03sINFOmove_groupLoaded robot model in 0.280212 seconds[0m ×2 + 15.04sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 15.04sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 15.04sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 15.04sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.05sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 15.09sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.09sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.10sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.14sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.15sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.15sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.16sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.17sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417867 ms (missed cycles : 6). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417867 ms (missed cycles : 6).[0m ×2 + 15.23sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.24sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.25sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.26sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.26sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.27sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.27sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.28sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.28sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.29sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.29sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.29sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.30sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.30sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.31sINFOvideo_server2026/08/07 15:52:35 INF MediaMTX v1.19.3, linux, amd64 ×2 + 15.31sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.31sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.32sINFOcontroller_serverOptimizer reset ×2 + 15.33sINFOcontroller_serverController Server has FollowPath controllers available. + 15.34sINFOvideo_server2026/08/07 15:52:35 INF configuration loaded from /tmp/moveit-webrtc-e16rck7c/mediamtx.yml ×2 + 15.34sINFOvideo_server2026/08/07 15:52:35 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 15.34sINFOvideo_server2026/08/07 15:52:35 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 15.36sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.36sINFOsmoother_serverConfiguring smoother server + 15.39sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.40sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.41sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.41sINFOplanner_serverConfiguring + 15.41sINFOglobal_costmap.global_costmapConfiguring + 15.43sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.44sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.44sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.44sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.44sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.46sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.46sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.46sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.50sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.50sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.50sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.50sINFOplanner_serverPlanner Server has GridBased planners available. + 15.54sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.54sINFObehavior_serverConfiguring + 15.56sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.56sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.57sINFOamclParticle filter initialization completed + 15.57sINFOamclInitializing particles from estimated pose and covariance + 15.57sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.57sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.58sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.59sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.60sINFObehavior_serverConfiguring spin + 15.63sINFObehavior_serverConfiguring backup + 15.64sINFObehavior_serverConfiguring drive_on_heading + 15.65sINFObehavior_serverConfiguring assisted_teleop + 15.65sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.65sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.65sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.67sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.67sINFObehavior_serverConfiguring wait + 15.69sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.69sINFObt_navigatorConfiguring + 15.70sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.73sWARNbt_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 + 16.09sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 16.18sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 16.18sINFOwaypoint_followerConfiguring + 16.20sINFOwaypoint_manager_nodeLoaded robot model in 0.454791 seconds[0m ×2 + 16.21sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 16.21sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.24sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.24sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.25sINFOvelocity_smootherConfiguring velocity smoother + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.129373 ms (missed cycles : 6). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.129373 ms (missed cycles : 6).[0m ×2 + 16.27sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.27sINFOcontroller_serverActivating + 16.27sINFOlocal_costmap.local_costmapActivating + 16.27sINFOlocal_costmap.local_costmapChecking transform + 16.27sINFOlocal_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. ×4 + 16.29sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.29sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.29sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.29sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.30sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.30sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.30sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.30sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.30sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.30sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.31sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.31sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.58sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.58sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.58sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.59sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.72sINFOmove_group[2026-08-07 15:52:37.181] [moveit_pro_license] [info] ×2 + 16.72sINFOmove_group************************************************* ×4 + 16.72sINFOmove_group* MoveIt Pro License ×2 + 16.72sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.82sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 16.82sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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 + 16.98sWARNwaypoint_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 + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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 + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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 + 16.98sWARNwaypoint_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 + 16.98sWARNwaypoint_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 + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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 + 16.98sWARNwaypoint_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. + 16.98sWARNwaypoint_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 + 16.99sWARNwaypoint_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. + 16.99sWARNwaypoint_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. + 16.99sWARNwaypoint_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 + 17.00sWARNwaypoint_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 + 17.00sWARNwaypoint_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 + 17.00sWARNwaypoint_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 + 17.00sWARNwaypoint_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 + 17.00sWARNwaypoint_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 + 17.00sWARNwaypoint_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 + 17.00sWARNwaypoint_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 + 17.00sWARNwaypoint_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. + 17.00sWARNwaypoint_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. + 17.00sWARNwaypoint_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 + 17.00sWARNwaypoint_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 + 17.01sWARNwaypoint_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. + 17.01sWARNwaypoint_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. + 17.01sWARNwaypoint_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. + 17.01sWARNwaypoint_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 + 17.01sWARNwaypoint_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. + 17.01sWARNwaypoint_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 + 17.01sWARNwaypoint_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 + 17.02sWARNwaypoint_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. + 17.02sWARNwaypoint_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 + 17.02sWARNwaypoint_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. + 17.02sWARNwaypoint_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 + 17.02sWARNwaypoint_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 + 17.02sWARNwaypoint_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. + 17.03sWARNwaypoint_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. + 17.03sWARNwaypoint_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 + 17.03sWARNwaypoint_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 + 17.04sWARNwaypoint_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. + 17.04sWARNwaypoint_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 + 17.04sWARNwaypoint_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. + 17.04sWARNwaypoint_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 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.964840 ms (missed cycles : 6). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.964840 ms (missed cycles : 6).[0m ×2 + 17.39sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.39sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.39sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.39sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.39sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.39sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.39sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.39sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.39sINFOwaypoint_manager_node[2026-08-07 15:52:37.863] [moveit_pro_license] [info] ×2 + 17.39sINFOwaypoint_manager_node************************************************* ×4 + 17.39sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 17.39sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.39sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.40sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.40sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.40sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.40sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.41sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.41sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.41sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.41sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.41sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.42sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.42sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.42sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.42sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.74sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.74sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.75sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.82sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.82sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.83sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.83sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.83sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.83sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.83sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.83sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.83sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.83sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.83sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.83sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.83sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.83sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.83sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.83sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.83sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.83sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.83sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.83sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.83sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.83sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.83sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.83sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.85sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.85sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.85sWARNros2_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 + 18.06sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 18.08sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 18.08sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 18.08sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 18.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.08sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.08sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 18.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 18.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 18.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 18.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 18.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 18.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 18.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 18.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 18.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 18.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 18.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 18.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 18.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 18.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 18.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 18.08sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty + 18.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 18.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.08sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.09sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty [0m ×2 + 18.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 18.11sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 18.11sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 18.12sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 18.12sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 18.12sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 18.12sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 18.12sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 18.12sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 18.14sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 18.14sINFOobjective_server_node[2026-08-07 15:52:38.608] [moveit_pro_license] [info] ×2 + 18.14sINFOobjective_server_node************************************************* ×4 + 18.14sINFOobjective_server_node* MoveIt Pro License ×2 + 18.14sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.14sINFOcontroller_managerSuccessfully switched controllers! ×7 + 18.14sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 18.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 18.14sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 18.14sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 18.25sINFOobjective_server_nodeLoaded robot model in 0.0213108 seconds[0m ×2 + 18.25sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.25sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.27sINFOlocal_costmap.local_costmapstart + 18.27sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 4.803ms + 18.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.31sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.31sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.32sWARNcomponent_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 + 18.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828701 ms (missed cycles : 2). + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828701 ms (missed cycles : 2).[0m ×2 + 18.37sWARNcontroller_serverParameter controller_server.verbose not found + 18.37sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 18.37sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 18.48sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 18.48sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 18.48sINFOsmoother_serverActivating + 18.48sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 18.48sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 18.48sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 18.48sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 18.48sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 18.49sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty + 18.49sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty [0m ×2 + 18.56sINFOros2-12process has finished cleanly [pid 9545] ×2 + 18.58sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 18.58sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 18.58sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 18.58sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 18.58sINFOforce_torque_sensor_broadcasterconfigure successful + 18.59sINFOros2_control_nodeconfigure successful[0m ×6 + 18.59sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 18.59sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 18.59sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 18.59sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 18.59sINFOplanner_serverActivating + 18.59sINFOglobal_costmap.global_costmapActivating + 18.59sINFOglobal_costmap.global_costmapChecking transform + 18.59sINFOglobal_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 1786117959.022096 but the earliest data is at time 1786117959.615556, when looking up transform from frame [ridgeback_base_link] to frame [map] + 18.59sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 18.60sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 18.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.62sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.63sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.64sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.64sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.65sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.65sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.65sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.65sINFOstreaming_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) + 18.65sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.65sINFOcomponent_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 + 18.65sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.65sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.76sINFOcomponent_container_mtLoaded robot model in 0.440181 seconds[0m ×2 + 18.76sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.76sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.80sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.80sWARNobjective_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. + 18.80sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.80sWARNobjective_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. + 18.80sWARNobjective_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. + 18.80sWARNobjective_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. + 18.80sWARNobjective_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. + 18.80sWARNobjective_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. + 18.80sWARNobjective_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 + 18.80sWARNobjective_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 + 18.80sWARNobjective_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 + 18.80sWARNobjective_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 + 18.80sWARNobjective_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. + 18.80sWARNobjective_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. + 18.80sWARNobjective_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. + 18.80sWARNobjective_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. + 18.81sWARNobjective_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 + 18.81sWARNobjective_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 + 18.81sWARNobjective_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 + 18.81sWARNobjective_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 + 18.81sWARNobjective_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 + 18.81sWARNobjective_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 + 18.87sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.87sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.90sINFOobjective_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 + 18.90sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.91sINFOstreaming_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) + 18.91sINFOcomponent_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 + 18.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.93sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.93sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.93sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.93sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.93sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.93sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.93sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.98sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.98sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 18.98sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.98sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 18.99sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty + 18.99sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty [0m ×2 + 19.03sINFOros2-10process has finished cleanly [pid 9543] ×2 + 19.05sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 19.05sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 19.05sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 19.05sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 19.06sINFOplatform_velocity_controllerconfigure successful + 19.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 19.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 19.06sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 19.07sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786117958.416 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 19.07sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 19.09sINFOglobal_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 1786117959.533661 but the earliest data is at time 1786117959.615556, when looking up transform from frame [ridgeback_base_link] to frame [map] + 19.17sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 19.17sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.30sWARNplanning_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. + 19.30sWARNcomponent_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 + 19.30sWARNplanning_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. + 19.30sWARNcomponent_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 + 19.30sWARNplanning_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. + 19.30sWARNplanning_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. + 19.30sWARNcomponent_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 + 19.30sWARNplanning_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. + 19.30sWARNcomponent_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 + 19.30sWARNplanning_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. + 19.30sWARNcomponent_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 + 19.31sWARNcomponent_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 + 19.31sWARNplanning_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. + 19.31sWARNplanning_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. + 19.31sWARNcomponent_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 + 19.31sWARNcomponent_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 + 19.31sWARNplanning_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. + 19.31sWARNplanning_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. + 19.31sWARNcomponent_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 + 19.31sWARNcomponent_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 + 19.31sWARNplanning_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. + 19.31sWARNplanning_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. + 19.31sWARNcomponent_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 + 19.31sWARNplanning_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. + 19.31sWARNplanning_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. + 19.31sWARNcomponent_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 + 19.32sWARNcomponent_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 + 19.32sWARNcomponent_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 + 19.32sWARNplanning_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. + 19.32sWARNplanning_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. + 19.32sWARNcomponent_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 + 19.32sWARNplanning_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. + 19.32sWARNcomponent_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 + 19.32sWARNplanning_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. + 19.32sWARNcomponent_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 + 19.32sWARNcomponent_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 + 19.32sWARNplanning_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. + 19.33sWARNcomponent_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 + 19.33sWARNplanning_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. + 19.33sWARNcomponent_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 + 19.33sWARNplanning_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. + 19.33sWARNplanning_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. + 19.33sWARNplanning_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. + 19.33sWARNplanning_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. + 19.33sWARNcomponent_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 + 19.33sWARNplanning_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. + 19.33sWARNplanning_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. + 19.34sWARNplanning_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. + 19.34sWARNplanning_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. + 19.34sWARNcomponent_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 + 19.34sWARNcomponent_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 + 19.34sWARNcomponent_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 + 19.34sWARNcomponent_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 + 19.34sWARNcomponent_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 + 19.34sWARNcomponent_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 + 19.34sWARNcomponent_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 + 19.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.611310 ms (missed cycles : 4). + 19.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.611310 ms (missed cycles : 4).[0m ×2 + 19.43sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 19.43sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 19.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 19.43sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 19.43sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty + 19.44sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty [0m ×2 + 19.46sINFOros2-13process has finished cleanly [pid 9546] ×2 + 19.54sINFOcomponent_container_mt[2026-08-07 15:52:40.008] [moveit_pro_license] [info] ×2 + 19.54sINFOcomponent_container_mt************************************************* ×4 + 19.54sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.54sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.56sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 19.56sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 19.57sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 19.57sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 19.57sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 19.57sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 19.57sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 19.57sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 19.57sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 19.58sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 19.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 19.58sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 19.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 19.59sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 19.59sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 19.59sINFOglobal_costmap.global_costmapstart + 19.61sWARNros2_control_nodeCamera render tick took 0.68 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.63sINFOmove_groupMoveGroup debug mode is ON + 19.63sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 19.64sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 19.68sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 19.68sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.68sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.68sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.68sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.69sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.69sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.73sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.78sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 19.79sINFOmove_group ×8 + 19.79sINFOmove_group****************************************************** ×4 + 19.79sINFOmove_group* MoveGroup using: ×2 + 19.79sINFOmove_group* - apply_planning_scene_service ×2 + 19.79sINFOmove_group* - clear_octomap_service ×2 + 19.79sINFOmove_group* - get_group_urdf ×2 + 19.79sINFOmove_group* - load_geometry_from_file ×2 + 19.79sINFOmove_group* - get_planning_scene_service ×2 + 19.79sINFOmove_group* - kinematics_service ×2 + 19.79sINFOmove_group* - save_geometry_to_file ×2 + 19.79sINFOmove_group* - GetPlanningGroups ×2 + 19.79sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.79sINFOmove_group[0m ×2 + 19.79sINFOmove_group[92mYou can start planning now![0m ×2 + 19.91sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.92sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.93sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.93sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 19.93sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 19.93sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 19.93sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 19.93sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty + 19.93sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty [0m ×2 + 19.95sINFOros2-16process has finished cleanly [pid 9549] ×2 + 20.02sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 20.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 20.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 20.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 20.03sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 20.03sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 20.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 20.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 20.11sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.12sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 20.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 20.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 20.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 20.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.482366 ms (missed cycles : 4). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.482366 ms (missed cycles : 4).[0m ×2 + 20.44sINFOros2-11process has finished cleanly [pid 9544] ×2 + 20.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty + 20.49sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty [0m ×2 + 20.55sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 20.55sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 20.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 20.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 20.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 20.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 20.65sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 20.65sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 20.75sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 20.75sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 20.75sINFObehavior_serverActivating + 20.75sINFObehavior_serverActivating spin + 20.75sINFObehavior_serverActivating backup + 20.75sINFObehavior_serverActivating drive_on_heading + 20.75sINFObehavior_serverActivating assisted_teleop + 20.75sINFObehavior_serverActivating wait + 20.75sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 20.86sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 20.86sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 20.86sINFObt_navigatorActivating + 20.93sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 21.04sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 21.04sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 21.04sINFOwaypoint_followerActivating + 21.04sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 21.08sINFOros2_control_node[2026-08-07 15:52:41.552] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 21.09sINFOros2_control_node[2026-08-07 15:52:41.556] [info] Controller state will be published at 10 Hz. ×2 + 21.09sINFOros2_control_node[2026-08-07 15:52:41.557] [info] VelocityForceController 'on_configure' succeeded. ×2 + 21.14sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 21.14sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 21.14sINFOvelocity_smootherActivating + 21.14sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 21.25sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 21.25sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 21.25sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 21.26sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 21.31sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.44sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 21.44sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 21.44sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 21.44sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660632 ms (missed cycles : 3). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660632 ms (missed cycles : 3).[0m ×2 + 21.48sINFOros2-17process has finished cleanly [pid 9550] ×2 + 21.51sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty + 21.51sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty [0m ×2 + 21.58sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 21.58sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 21.58sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 21.58sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 22.11sINFOros2_control_node[2026-08-07 15:52:42.579] [info] Controller state will be published at 20 Hz. ×2 + 22.11sINFOros2_control_node[2026-08-07 15:52:42.581] [info] JointVelocityController 'on_configure' succeeded. ×2 + 22.48sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 22.48sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 22.48sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty + 22.48sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 22.48sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 22.49sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty [0m ×2 + 22.51sINFOros2-19process has finished cleanly [pid 9552] ×2 + 22.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247862 ms (missed cycles : 2). + 22.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247862 ms (missed cycles : 2).[0m ×2 + 22.56sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 22.56sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 22.56sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 22.56sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 22.57sINFOplatform_velocity_controller_nav2configure successful + 23.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 23.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 23.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty + 23.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 23.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 23.01sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty [0m ×2 + 23.03sINFOros2-15process has finished cleanly [pid 9548] ×2 + 23.08sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 23.08sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 23.08sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 23.08sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 23.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713967 ms (missed cycles : 2). + 23.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713967 ms (missed cycles : 2).[0m ×2 + 23.62sINFOros2_control_node[2026-08-07 15:52:44.093] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 23.63sINFOros2_control_node[2026-08-07 15:52:44.095] [info] Controller state will be published at 10 Hz. ×2 + 23.63sINFOros2_control_node[2026-08-07 15:52:44.096] [info] VelocityForceController 'on_configure' succeeded. ×2 + 24.01sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 24.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 24.01sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 24.01sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 24.01sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty + 24.01sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty [0m ×2 + 24.02sINFOros2-18process has finished cleanly [pid 9551] ×2 + 24.03sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 24.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 24.09sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 24.09sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 24.09sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 24.09sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 24.09sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 24.10sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 24.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 24.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 24.11sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 24.11sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 24.46sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 24.46sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 24.46sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 24.46sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty + 24.46sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 24.46sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_59l192y1 --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_jkkuwi3o --params-file /tmp/launch_params_ntz_jqty [0m ×2 + 24.50sINFOros2-14process has finished cleanly [pid 9547] ×2 + 24.52sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 24.52sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 24.53sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 24.53sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563781 ms (missed cycles : 2). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563781 ms (missed cycles : 2).[0m ×2 + 25.03sINFOros2_control_node[2026-08-07 15:52:45.499] [info] Controller state will be published at 20 Hz. ×2 + 25.03sINFOros2_control_node[2026-08-07 15:52:45.500] [info] JointVelocityController 'on_configure' succeeded. ×2 + 25.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 25.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 25.39sINFOros2-20process has finished cleanly [pid 9553] ×2 + 25.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019164 ms (missed cycles : 2). + 25.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019164 ms (missed cycles : 2).[0m ×2 + 26.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2). + 26.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2).[0m ×2 + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 27.85sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 28.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 29.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 29.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 30.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 30.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 30.29sINFOmove_groupClearing octomap...[0m ×2 + 30.30sINFOmove_groupOctomap cleared.[0m ×2 + 30.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 30.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 30.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 31.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 32.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 32.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 32.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 32.19sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 32.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 32.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 32.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 32.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 32.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 32.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 32.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 32.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 32.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 32.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 32.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 32.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 32.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 32.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	72.9s	3 errors · 238 warnings · 211 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769971 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769971 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852343 ms (missed cycles : 3). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852343 ms (missed cycles : 3).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458756 ms (missed cycles : 4). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458756 ms (missed cycles : 4).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056090 ms (missed cycles : 5). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056090 ms (missed cycles : 5).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 4.16sINFOobjective_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 + 4.16sINFOjoint_trajectory_controllerGot request to cancel goal + 4.16sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.16sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.16sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.21sERRORobjective_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: 1786118181.45046997 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.30sWARNlocal_costmap.local_costmapSensor origin at (-0.77, 4.09) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.30sWARNlocal_costmap.local_costmapSensor origin at (-1.67, 4.01) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.950ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.364ms + 4.78sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786118182.01535821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768103 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768103 ms (missed cycles : 3).[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.932ms + 5.17sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.600ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.704ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.174ms + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527297 ms (missed cycles : 5). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527297 ms (missed cycles : 5).[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.036ms + 6.51sINFOamclParticle filter update iteration stats: 4415 particles 723 points - 8.530ms + 6.80sINFOamclParticle filter update iteration stats: 2596 particles 723 points - 6.392ms + 6.83sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.88sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.88sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.88sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.89sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605465 ms (missed cycles : 2). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605465 ms (missed cycles : 2).[0m ×2 + 7.50sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 2.517ms + 7.80sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 1.983ms + 8.10sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 1.602ms + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414160 ms (missed cycles : 2). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414160 ms (missed cycles : 2).[0m ×2 + 8.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437965 ms (missed cycles : 3). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437965 ms (missed cycles : 3).[0m ×2 + 9.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.105ms + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329797 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329797 ms (missed cycles : 2).[0m ×2 + 10.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671655 ms (missed cycles : 3). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671655 ms (missed cycles : 3).[0m ×2 + 11.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms ×2 + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms ×3 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050748 ms (missed cycles : 4). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050748 ms (missed cycles : 4).[0m ×2 + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487009 ms (missed cycles : 3). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487009 ms (missed cycles : 3).[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763388 ms (missed cycles : 2). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763388 ms (missed cycles : 2).[0m ×2 + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 15.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886142 ms (missed cycles : 2). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886142 ms (missed cycles : 2).[0m ×2 + 15.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms ×3 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202197 ms (missed cycles : 2). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202197 ms (missed cycles : 2).[0m ×2 + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms ×2 + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471337 ms (missed cycles : 4). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471337 ms (missed cycles : 4).[0m ×2 + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 18.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075093 ms (missed cycles : 2). + 18.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075093 ms (missed cycles : 2).[0m ×2 + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268503 ms (missed cycles : 3). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268503 ms (missed cycles : 3).[0m ×2 + 20.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.194ms + 20.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529242 ms (missed cycles : 3). + 20.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529242 ms (missed cycles : 3).[0m ×2 + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms ×2 + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211987 ms (missed cycles : 4). + 22.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211987 ms (missed cycles : 4).[0m ×2 + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.262ms + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.181ms + 23.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492278 ms (missed cycles : 3). + 23.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492278 ms (missed cycles : 3).[0m ×2 + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms ×2 + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 24.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307731 ms (missed cycles : 4). + 24.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307731 ms (missed cycles : 4).[0m ×2 + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.318ms + 25.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595006 ms (missed cycles : 3). + 25.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595006 ms (missed cycles : 3).[0m ×2 + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 26.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575036 ms (missed cycles : 4). + 26.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575036 ms (missed cycles : 4).[0m ×2 + 26.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 27.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623577 ms (missed cycles : 4). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623577 ms (missed cycles : 4).[0m ×2 + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961867 ms (missed cycles : 4). + 28.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961867 ms (missed cycles : 4).[0m ×2 + 28.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.117ms + 29.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133615 ms (missed cycles : 4). + 29.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133615 ms (missed cycles : 4).[0m ×2 + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 30.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009172 ms (missed cycles : 4). + 30.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009172 ms (missed cycles : 4).[0m ×2 + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.252ms ×2 + 31.11sINFOros2_control_nodeMuJoCo sim: 3.17% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081312 ms (missed cycles : 5). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081312 ms (missed cycles : 5).[0m ×2 + 32.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014626 ms (missed cycles : 2). + 32.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014626 ms (missed cycles : 2).[0m ×2 + 33.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641807 ms (missed cycles : 2). + 33.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641807 ms (missed cycles : 2).[0m ×2 + 34.19sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.19sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120106 ms (missed cycles : 3). + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120106 ms (missed cycles : 3).[0m ×2 + 35.00sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.441003 ms (missed cycles : 4). + 35.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.441003 ms (missed cycles : 4).[0m ×2 + 35.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 35.96sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 36.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006897 ms (missed cycles : 2). + 36.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006897 ms (missed cycles : 2).[0m ×2 + 37.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305572 ms (missed cycles : 4). + 37.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305572 ms (missed cycles : 4).[0m ×2 + 38.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 38.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473973 ms (missed cycles : 5). + 38.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473973 ms (missed cycles : 5).[0m ×2 + 38.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.296ms + 39.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914655 ms (missed cycles : 2). + 39.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914655 ms (missed cycles : 2).[0m ×2 + 40.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 40.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 40.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261818 ms (missed cycles : 3). + 40.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261818 ms (missed cycles : 3).[0m ×2 + 41.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 41.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542093 ms (missed cycles : 4). + 41.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542093 ms (missed cycles : 4).[0m ×2 + 43.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156719 ms (missed cycles : 2). + 43.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156719 ms (missed cycles : 2).[0m ×2 + 44.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209824 ms (missed cycles : 3). + 44.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209824 ms (missed cycles : 3).[0m ×2 + 44.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.259ms + 45.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675440 ms (missed cycles : 2). + 45.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675440 ms (missed cycles : 2).[0m ×2 + 46.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 46.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707746 ms (missed cycles : 3). + 46.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707746 ms (missed cycles : 3).[0m ×2 + 47.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 47.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720730 ms (missed cycles : 2). + 47.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720730 ms (missed cycles : 2).[0m ×2 + 47.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 48.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315380 ms (missed cycles : 2). + 48.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315380 ms (missed cycles : 2).[0m ×2 + 48.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms + 49.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267382 ms (missed cycles : 2). + 49.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267382 ms (missed cycles : 2).[0m ×2 + 49.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.266ms + 50.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265547 ms (missed cycles : 3). + 50.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265547 ms (missed cycles : 3).[0m ×2 + 50.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 51.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020408 ms (missed cycles : 3). + 51.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020408 ms (missed cycles : 3).[0m ×2 + 51.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.131ms + 52.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052564 ms (missed cycles : 5). + 52.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052564 ms (missed cycles : 5).[0m ×2 + 52.85sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 53.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504760 ms (missed cycles : 3). + 53.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504760 ms (missed cycles : 3).[0m ×2 + 54.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274621 ms (missed cycles : 4). + 54.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274621 ms (missed cycles : 4).[0m ×2 + 55.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382724 ms (missed cycles : 4). + 55.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382724 ms (missed cycles : 4).[0m ×2 + 56.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.364ms + 56.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941517 ms (missed cycles : 2). + 56.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941517 ms (missed cycles : 2).[0m ×2 + 57.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.143ms + 58.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809021 ms (missed cycles : 2). + 58.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809021 ms (missed cycles : 2).[0m ×2 + 59.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356919 ms (missed cycles : 4). + 59.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356919 ms (missed cycles : 4).[0m ×2 + 59.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 60.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781987 ms (missed cycles : 3). + 60.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781987 ms (missed cycles : 3).[0m ×2 + 60.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 61.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670813 ms (missed cycles : 4). + 61.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670813 ms (missed cycles : 4).[0m ×2 + 61.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 62.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024226 ms (missed cycles : 4). + 62.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024226 ms (missed cycles : 4).[0m ×2 + 62.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.232ms + 63.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202888 ms (missed cycles : 2). + 63.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202888 ms (missed cycles : 2).[0m ×2 + 64.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 64.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227771 ms (missed cycles : 2). + 64.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227771 ms (missed cycles : 2).[0m ×2 + 65.38sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 65.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375103 ms (missed cycles : 3). + 65.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375103 ms (missed cycles : 3).[0m ×2 + 66.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442281 ms (missed cycles : 4). + 66.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442281 ms (missed cycles : 4).[0m ×2 + 67.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587737 ms (missed cycles : 3). + 67.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587737 ms (missed cycles : 3).[0m ×2 + 68.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277814 ms (missed cycles : 2). + 68.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277814 ms (missed cycles : 2).[0m ×2 + 69.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 69.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946392 ms (missed cycles : 4). + 69.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946392 ms (missed cycles : 4).[0m ×2 + 70.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 71.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393190 ms (missed cycles : 3). + 71.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393190 ms (missed cycles : 3).[0m ×2 + 72.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 72.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925177 ms (missed cycles : 3). + 72.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925177 ms (missed cycles : 3).[0m ×2 + 73.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176458 ms (missed cycles : 3). + 73.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176458 ms (missed cycles : 3).[0m ×2 + 73.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 74.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436141 ms (missed cycles : 5). + 74.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436141 ms (missed cycles : 5).[0m ×2 + 74.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 75.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875461 ms (missed cycles : 4). + 75.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875461 ms (missed cycles : 4).[0m ×2 + 75.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 76.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686994 ms (missed cycles : 4). + 76.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686994 ms (missed cycles : 4).[0m ×2 + 77.07sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786118254.30558801 seconds ×3 + 77.20sWARNlocal_costmap.local_costmapSensor origin at (-2.32, 13.71) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 77.20sWARNlocal_costmap.local_costmapSensor origin at (-3.12, 13.30) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 77.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673720 ms (missed cycles : 2). + 77.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673720 ms (missed cycles : 2).[0m ×2 + 77.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.500ms + 77.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.047ms + 77.65sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786118254.88871002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 77.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.244ms + 78.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.598ms + 78.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2). + 78.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2).[0m ×2 + 78.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.446ms + 79.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2). + 79.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2).[0m ×2 + 79.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.910ms
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.4s	185 warnings · 157 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.047ms + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786118254.88871002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 0.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.244ms + 0.50sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.50sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.50sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.50sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.598ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.446ms + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.910ms + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858440 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858440 ms (missed cycles : 3).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.458ms + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867145 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867145 ms (missed cycles : 3).[0m ×2 + 4.32sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.32sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786118259.18886304 seconds ×3 + 4.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188961 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188961 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786118259.76616120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230688 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230688 ms (missed cycles : 2).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319126 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319126 ms (missed cycles : 2).[0m ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919347 ms (missed cycles : 2). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919347 ms (missed cycles : 2).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834989 ms (missed cycles : 3). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834989 ms (missed cycles : 3).[0m ×2 + 9.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.525ms + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575158 ms (missed cycles : 3). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575158 ms (missed cycles : 3).[0m ×2 + 10.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.909ms + 10.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.929ms + 11.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.400ms + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967734 ms (missed cycles : 3). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967734 ms (missed cycles : 3).[0m ×2 + 11.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.560ms + 12.40sINFOamclParticle filter update iteration stats: 4114 particles 723 points - 5.775ms + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898617 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898617 ms (missed cycles : 2).[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 3118 particles 723 points - 4.951ms + 13.40sINFOamclParticle filter update iteration stats: 2418 particles 723 points - 3.788ms + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152581 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152581 ms (missed cycles : 2).[0m ×2 + 13.51sINFOros2_control_nodeMuJoCo sim: 4.37% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 3.143ms + 14.40sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 2.800ms + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308813 ms (missed cycles : 4). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308813 ms (missed cycles : 4).[0m ×2 + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.227ms + 15.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746878 ms (missed cycles : 4). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746878 ms (missed cycles : 4).[0m ×2 + 15.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 16.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571859 ms (missed cycles : 4). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571859 ms (missed cycles : 4).[0m ×2 + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms ×2 + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.121ms ×2 + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833439 ms (missed cycles : 2). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833439 ms (missed cycles : 2).[0m ×2 + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276459 ms (missed cycles : 4). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276459 ms (missed cycles : 4).[0m ×2 + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.184ms + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 20.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183154 ms (missed cycles : 3). + 20.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183154 ms (missed cycles : 3).[0m ×2 + 20.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms ×2 + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752844 ms (missed cycles : 3). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752844 ms (missed cycles : 3).[0m ×2 + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 22.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894426 ms (missed cycles : 2). + 22.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894426 ms (missed cycles : 2).[0m ×2 + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 23.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517987 ms (missed cycles : 4). + 23.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517987 ms (missed cycles : 4).[0m ×2 + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.326ms + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.246ms + 24.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788410 ms (missed cycles : 3). + 24.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788410 ms (missed cycles : 3).[0m ×2 + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.151ms + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 25.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957763 ms (missed cycles : 2). + 25.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957763 ms (missed cycles : 2).[0m ×2 + 26.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 26.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242203 ms (missed cycles : 3). + 26.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242203 ms (missed cycles : 3).[0m ×2 + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.209ms + 27.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305125 ms (missed cycles : 4). + 27.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305125 ms (missed cycles : 4).[0m ×2 + 27.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 28.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 28.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816151 ms (missed cycles : 2). + 28.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816151 ms (missed cycles : 2).[0m ×2 + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.128ms + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 29.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896893 ms (missed cycles : 3). + 29.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896893 ms (missed cycles : 3).[0m ×2 + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.198ms + 30.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541862 ms (missed cycles : 4). + 30.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541862 ms (missed cycles : 4).[0m ×2 + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 31.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 31.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319517 ms (missed cycles : 3). + 31.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319517 ms (missed cycles : 3).[0m ×2 + 32.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.153ms + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.180ms + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716720 ms (missed cycles : 5). + 33.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716720 ms (missed cycles : 5).[0m ×2 + 33.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.320ms + 34.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 34.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043433 ms (missed cycles : 3). + 34.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043433 ms (missed cycles : 3).[0m ×2 + 34.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 35.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.482756 ms (missed cycles : 4). + 35.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.482756 ms (missed cycles : 4).[0m ×2 + 36.04sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.04sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831309 ms (missed cycles : 2). + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831309 ms (missed cycles : 2).[0m ×2 + 37.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472063 ms (missed cycles : 3). + 37.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472063 ms (missed cycles : 3).[0m ×2 + 37.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.274ms + 38.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868838 ms (missed cycles : 5). + 38.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868838 ms (missed cycles : 5).[0m ×2 + 39.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628561 ms (missed cycles : 3). + 39.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628561 ms (missed cycles : 3).[0m ×2 + 40.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666148 ms (missed cycles : 3). + 40.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666148 ms (missed cycles : 3).[0m ×2 + 40.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 41.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629933 ms (missed cycles : 2). + 41.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629933 ms (missed cycles : 2).[0m ×2 + 42.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551058 ms (missed cycles : 3). + 42.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551058 ms (missed cycles : 3).[0m ×2 + 43.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.265ms + 43.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063675 ms (missed cycles : 3). + 43.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063675 ms (missed cycles : 3).[0m ×2 + 44.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451702 ms (missed cycles : 4). + 44.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451702 ms (missed cycles : 4).[0m ×2 + 45.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148554 ms (missed cycles : 2). + 45.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148554 ms (missed cycles : 2).[0m ×2 + 46.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 46.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056268 ms (missed cycles : 4). + 46.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056268 ms (missed cycles : 4).[0m ×2 + 47.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297174 ms (missed cycles : 4). + 47.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297174 ms (missed cycles : 4).[0m ×2 + 48.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302967 ms (missed cycles : 2). + 48.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302967 ms (missed cycles : 2).[0m ×2 + 49.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 49.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226391 ms (missed cycles : 2). + 49.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226391 ms (missed cycles : 2).[0m ×2 + 50.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679382 ms (missed cycles : 3). + 50.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679382 ms (missed cycles : 3).[0m ×2 + 51.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474500 ms (missed cycles : 5). + 51.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474500 ms (missed cycles : 5).[0m ×2 + 52.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 52.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743021 ms (missed cycles : 3). + 52.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743021 ms (missed cycles : 3).[0m ×2 + 53.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772330 ms (missed cycles : 2). + 53.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772330 ms (missed cycles : 2).[0m ×2 + 55.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737179 ms (missed cycles : 3). + 55.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737179 ms (missed cycles : 3).[0m ×2 + 56.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031711 ms (missed cycles : 2). + 56.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031711 ms (missed cycles : 2).[0m ×2 + 57.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729651 ms (missed cycles : 3). + 57.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729651 ms (missed cycles : 3).[0m ×2 + 58.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179953 ms (missed cycles : 4). + 58.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179953 ms (missed cycles : 4).[0m ×2 + 59.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.617161 ms (missed cycles : 4). + 59.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.617161 ms (missed cycles : 4).[0m ×2 + 60.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221759 ms (missed cycles : 4). + 60.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221759 ms (missed cycles : 4).[0m ×2 + 60.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 61.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006592 ms (missed cycles : 4). + 61.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006592 ms (missed cycles : 4).[0m ×2 + 61.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786118316.59630561 seconds ×3 + 61.90sWARNlocal_costmap.local_costmapSensor origin at (-1.73, 8.10) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.90sWARNlocal_costmap.local_costmapSensor origin at (-2.63, 8.12) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.258ms + 62.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.054ms + 62.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.616ms + 62.33sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786118317.16360545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.690ms + 62.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956251 ms (missed cycles : 3). + 62.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956251 ms (missed cycles : 3).[0m ×2 + 62.79sINFOobjective_server_nodeFound path in 0 iterations (1.61e-06 s). ×2 + 62.83sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.400ms + 63.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.142ms + 63.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516830 ms (missed cycles : 3). + 63.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516830 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.4s	185 warnings · 165 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384941 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384941 ms (missed cycles : 2).[0m ×2 + 0.31sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.31sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786118016.30544615 seconds ×3 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.89sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786118016.86553073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921255 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921255 ms (missed cycles : 3).[0m ×2 + 2.01sINFOobjective_server_nodeFound path in 0 iterations (2.6086e-05 s). ×2 + 2.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 2.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.03sINFOjoint_trajectory_controllerReceived new action goal ×4 + 2.03sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 2.03sINFOros2_control_nodeReceived new action goal[0m ×8 + 2.04sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307283 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307283 ms (missed cycles : 2).[0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300800 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300800 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786118020.15567350 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789272 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789272 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786118020.72370505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388980 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388980 ms (missed cycles : 3).[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793426 ms (missed cycles : 3). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793426 ms (missed cycles : 3).[0m ×2 + 7.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157765 ms (missed cycles : 4). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157765 ms (missed cycles : 4).[0m ×2 + 9.27sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 2.496ms + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532980 ms (missed cycles : 4). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532980 ms (missed cycles : 4).[0m ×2 + 9.87sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 1.763ms + 10.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848026 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848026 ms (missed cycles : 3).[0m ×2 + 10.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 11.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674959 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674959 ms (missed cycles : 2).[0m ×2 + 11.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 12.36sINFOros2_control_nodeMuJoCo sim: 0.44% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162765 ms (missed cycles : 4). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162765 ms (missed cycles : 4).[0m ×2 + 12.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.108ms + 13.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.216ms + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398155 ms (missed cycles : 3). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398155 ms (missed cycles : 3).[0m ×2 + 13.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 14.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 14.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264790 ms (missed cycles : 4). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264790 ms (missed cycles : 4).[0m ×2 + 15.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 15.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.047ms + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174204 ms (missed cycles : 3). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174204 ms (missed cycles : 3).[0m ×2 + 16.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms ×2 + 16.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404451 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404451 ms (missed cycles : 2).[0m ×2 + 17.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 17.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354608 ms (missed cycles : 3). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354608 ms (missed cycles : 3).[0m ×2 + 18.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 18.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 19.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423908 ms (missed cycles : 3). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423908 ms (missed cycles : 3).[0m ×2 + 19.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 19.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358961 ms (missed cycles : 3). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358961 ms (missed cycles : 3).[0m ×2 + 20.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 20.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578270 ms (missed cycles : 3). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578270 ms (missed cycles : 3).[0m ×2 + 21.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 21.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 22.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 22.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074729 ms (missed cycles : 2). + 22.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074729 ms (missed cycles : 2).[0m ×2 + 22.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 23.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734545 ms (missed cycles : 3). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734545 ms (missed cycles : 3).[0m ×2 + 23.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 24.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 24.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748519 ms (missed cycles : 3). + 24.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748519 ms (missed cycles : 3).[0m ×2 + 24.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 25.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.303ms + 25.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900858 ms (missed cycles : 3). + 25.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900858 ms (missed cycles : 3).[0m ×2 + 25.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.136ms + 26.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.291ms + 26.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817969 ms (missed cycles : 3). + 26.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817969 ms (missed cycles : 3).[0m ×2 + 26.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms + 27.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.131ms + 27.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292744 ms (missed cycles : 2). + 27.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292744 ms (missed cycles : 2).[0m ×2 + 27.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 28.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 28.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164540 ms (missed cycles : 2). + 28.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164540 ms (missed cycles : 2).[0m ×2 + 28.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 29.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 29.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882283 ms (missed cycles : 2). + 29.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882283 ms (missed cycles : 2).[0m ×2 + 29.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 30.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms ×2 + 30.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037157 ms (missed cycles : 3). + 30.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037157 ms (missed cycles : 3).[0m ×2 + 30.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 31.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 31.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.288ms + 31.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593378 ms (missed cycles : 3). + 31.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593378 ms (missed cycles : 3).[0m ×2 + 32.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 32.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 32.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564440 ms (missed cycles : 3). + 32.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564440 ms (missed cycles : 3).[0m ×2 + 33.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 33.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.968725 ms (missed cycles : 5). + 33.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.968725 ms (missed cycles : 5).[0m ×2 + 33.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 35.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711785 ms (missed cycles : 3). + 35.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711785 ms (missed cycles : 3).[0m ×2 + 35.94sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.94sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209661 ms (missed cycles : 2). + 36.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209661 ms (missed cycles : 2).[0m ×2 + 37.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825374 ms (missed cycles : 2). + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825374 ms (missed cycles : 2).[0m ×2 + 37.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 38.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120989 ms (missed cycles : 4). + 38.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120989 ms (missed cycles : 4).[0m ×2 + 39.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459923 ms (missed cycles : 5). + 39.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459923 ms (missed cycles : 5).[0m ×2 + 40.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634597 ms (missed cycles : 4). + 40.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634597 ms (missed cycles : 4).[0m ×2 + 41.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271413 ms (missed cycles : 2). + 41.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271413 ms (missed cycles : 2).[0m ×2 + 42.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749591 ms (missed cycles : 3). + 42.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749591 ms (missed cycles : 3).[0m ×2 + 42.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 43.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.682745 ms (missed cycles : 5). + 43.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.682745 ms (missed cycles : 5).[0m ×2 + 44.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924189 ms (missed cycles : 2). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924189 ms (missed cycles : 2).[0m ×2 + 45.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876349 ms (missed cycles : 3). + 45.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876349 ms (missed cycles : 3).[0m ×2 + 46.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 46.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552990 ms (missed cycles : 3). + 46.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552990 ms (missed cycles : 3).[0m ×2 + 47.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641659 ms (missed cycles : 2). + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641659 ms (missed cycles : 2).[0m ×2 + 49.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396340 ms (missed cycles : 4). + 49.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396340 ms (missed cycles : 4).[0m ×2 + 49.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 50.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.637854 ms (missed cycles : 5). + 50.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.637854 ms (missed cycles : 5).[0m ×2 + 51.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788022 ms (missed cycles : 3). + 51.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788022 ms (missed cycles : 3).[0m ×2 + 52.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368275 ms (missed cycles : 4). + 52.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368275 ms (missed cycles : 4).[0m ×2 + 52.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 53.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043816 ms (missed cycles : 4). + 53.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043816 ms (missed cycles : 4).[0m ×2 + 54.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440456 ms (missed cycles : 2). + 54.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440456 ms (missed cycles : 2).[0m ×2 + 55.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897315 ms (missed cycles : 3). + 55.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897315 ms (missed cycles : 3).[0m ×2 + 56.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740597 ms (missed cycles : 3). + 56.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740597 ms (missed cycles : 3).[0m ×2 + 56.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 57.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262551 ms (missed cycles : 2). + 57.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262551 ms (missed cycles : 2).[0m ×2 + 58.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149685 ms (missed cycles : 4). + 58.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149685 ms (missed cycles : 4).[0m ×2 + 59.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838158 ms (missed cycles : 4). + 59.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838158 ms (missed cycles : 4).[0m ×2 + 60.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029380 ms (missed cycles : 2). + 60.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029380 ms (missed cycles : 2).[0m ×2 + 61.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 61.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786118077.54389644 seconds ×3 + 61.67sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.67sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004659 ms (missed cycles : 3). + 61.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004659 ms (missed cycles : 3).[0m ×2 + 61.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.227ms + 62.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.017ms + 62.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786118078.11987519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.160ms + 62.59sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 62.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.551ms + 62.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068719 ms (missed cycles : 3). + 62.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068719 ms (missed cycles : 3).[0m ×2 + 63.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.290ms + 63.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885706 ms (missed cycles : 3). + 63.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885706 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	55.6s	184 warnings · 167 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.251680 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.251680 ms (missed cycles : 4).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms ×2 + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073013 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073013 ms (missed cycles : 2).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232549 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232549 ms (missed cycles : 4).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551239 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551239 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 3.99sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.99sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.04sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786118114.79092622 seconds ×3 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776894 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776894 ms (missed cycles : 2).[0m ×2 + 4.18sWARNlocal_costmap.local_costmapSensor origin at (-2.42, 8.94) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.18sWARNlocal_costmap.local_costmapSensor origin at (-3.32, 8.92) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.137ms + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.626ms + 4.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.462ms + 4.60sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786118115.35422373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.812ms + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 5.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.008ms + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018636 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018636 ms (missed cycles : 4).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.215ms + 5.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.604ms + 6.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.537ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592278 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592278 ms (missed cycles : 2).[0m ×2 + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.947ms + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.708ms + 6.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.95sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.95sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.95sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.95sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.181ms + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928861 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928861 ms (missed cycles : 3).[0m ×2 + 7.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.397ms + 7.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.950ms + 8.09sINFOamclParticle filter update iteration stats: 4415 particles 723 points - 5.346ms + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122022 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122022 ms (missed cycles : 2).[0m ×2 + 8.39sINFOamclParticle filter update iteration stats: 2857 particles 723 points - 5.230ms + 8.89sINFOamclParticle filter update iteration stats: 1788 particles 723 points - 3.836ms + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995107 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995107 ms (missed cycles : 2).[0m ×2 + 10.08sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.714ms + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184569 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184569 ms (missed cycles : 3).[0m ×2 + 10.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.683ms + 11.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.119ms + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990800 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990800 ms (missed cycles : 2).[0m ×2 + 11.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms ×2 + 12.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728031 ms (missed cycles : 2). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728031 ms (missed cycles : 2).[0m ×2 + 12.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 13.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.266ms + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457510 ms (missed cycles : 4). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457510 ms (missed cycles : 4).[0m ×2 + 13.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 14.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms ×2 + 14.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.234ms + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854302 ms (missed cycles : 3). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854302 ms (missed cycles : 3).[0m ×2 + 15.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms ×2 + 15.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987588 ms (missed cycles : 3). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987588 ms (missed cycles : 3).[0m ×2 + 16.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958349 ms (missed cycles : 2). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958349 ms (missed cycles : 2).[0m ×2 + 17.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 17.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms ×2 + 18.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132689 ms (missed cycles : 4). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132689 ms (missed cycles : 4).[0m ×2 + 18.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 19.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.129ms + 19.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484320 ms (missed cycles : 2). + 19.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484320 ms (missed cycles : 2).[0m ×2 + 19.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 20.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449919 ms (missed cycles : 3). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449919 ms (missed cycles : 3).[0m ×2 + 20.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 21.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 21.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 21.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284782 ms (missed cycles : 2). + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284782 ms (missed cycles : 2).[0m ×2 + 22.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 22.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 22.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346916 ms (missed cycles : 3). + 22.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346916 ms (missed cycles : 3).[0m ×2 + 23.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 23.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778839 ms (missed cycles : 2). + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778839 ms (missed cycles : 2).[0m ×2 + 24.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 24.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.188ms + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937147 ms (missed cycles : 3). + 24.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937147 ms (missed cycles : 3).[0m ×2 + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms ×2 + 25.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms ×2 + 25.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881256 ms (missed cycles : 3). + 25.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881256 ms (missed cycles : 3).[0m ×2 + 27.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650895 ms (missed cycles : 4). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650895 ms (missed cycles : 4).[0m ×2 + 27.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 27.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 28.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706515 ms (missed cycles : 2). + 28.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706515 ms (missed cycles : 2).[0m ×2 + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 29.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 29.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467013 ms (missed cycles : 3). + 29.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467013 ms (missed cycles : 3).[0m ×2 + 29.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103176 ms (missed cycles : 2). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103176 ms (missed cycles : 2).[0m ×2 + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 31.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.164ms + 31.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474681 ms (missed cycles : 3). + 31.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474681 ms (missed cycles : 3).[0m ×2 + 31.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 32.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 32.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.785930 ms (missed cycles : 5). + 32.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.785930 ms (missed cycles : 5).[0m ×2 + 32.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 33.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170813 ms (missed cycles : 4). + 33.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170813 ms (missed cycles : 4).[0m ×2 + 34.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688130 ms (missed cycles : 3). + 34.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688130 ms (missed cycles : 3).[0m ×2 + 35.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183702 ms (missed cycles : 4). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183702 ms (missed cycles : 4).[0m ×2 + 36.01sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799635 ms (missed cycles : 2). + 36.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799635 ms (missed cycles : 2).[0m ×2 + 36.81sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.81sINFOobjective_server_nodePlanning for 54 path waypoints. ×3 + 37.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 37.59sINFOros2_control_nodeMuJoCo sim: 2.62% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 37.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537748 ms (missed cycles : 3). + 37.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537748 ms (missed cycles : 3).[0m ×2 + 38.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 38.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584125 ms (missed cycles : 3). + 38.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584125 ms (missed cycles : 3).[0m ×2 + 39.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 39.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms + 39.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277262 ms (missed cycles : 4). + 39.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277262 ms (missed cycles : 4).[0m ×2 + 40.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.260ms + 40.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 40.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426583 ms (missed cycles : 5). + 40.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426583 ms (missed cycles : 5).[0m ×2 + 41.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.072ms + 41.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899616 ms (missed cycles : 3). + 41.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899616 ms (missed cycles : 3).[0m ×2 + 42.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 42.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796550 ms (missed cycles : 3). + 43.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796550 ms (missed cycles : 3).[0m ×2 + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524813 ms (missed cycles : 3). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524813 ms (missed cycles : 3).[0m ×2 + 45.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037790 ms (missed cycles : 5). + 45.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037790 ms (missed cycles : 5).[0m ×2 + 46.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933956 ms (missed cycles : 4). + 46.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933956 ms (missed cycles : 4).[0m ×2 + 46.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 47.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 47.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543488 ms (missed cycles : 3). + 47.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543488 ms (missed cycles : 3).[0m ×2 + 47.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 48.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033110 ms (missed cycles : 2). + 48.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033110 ms (missed cycles : 2).[0m ×2 + 48.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 49.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375812 ms (missed cycles : 4). + 49.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375812 ms (missed cycles : 4).[0m ×2 + 49.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 50.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128767 ms (missed cycles : 3). + 50.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128767 ms (missed cycles : 3).[0m ×2 + 50.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 51.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214709 ms (missed cycles : 4). + 51.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214709 ms (missed cycles : 4).[0m ×2 + 51.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms + 52.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3). + 52.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668319 ms (missed cycles : 3).[0m ×2 + 52.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 53.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770322 ms (missed cycles : 2). + 53.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770322 ms (missed cycles : 2).[0m ×2 + 53.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 54.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303257 ms (missed cycles : 3). + 54.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303257 ms (missed cycles : 3).[0m ×2 + 54.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 55.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476626 ms (missed cycles : 4). + 55.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476626 ms (missed cycles : 4).[0m ×2 + 55.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.250ms + 56.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705181 ms (missed cycles : 3). + 56.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705181 ms (missed cycles : 3).[0m ×2 + 57.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.314ms + 57.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001920 ms (missed cycles : 4). + 57.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001920 ms (missed cycles : 4).[0m ×2 + 58.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 58.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438412 ms (missed cycles : 3). + 58.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438412 ms (missed cycles : 3).[0m ×2 + 59.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786118170.36436033 seconds ×3 + 59.68sWARNlocal_costmap.local_costmapSensor origin at (-1.85, 10.64) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 59.68sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 11.15) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 59.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998347 ms (missed cycles : 3). + 59.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998347 ms (missed cycles : 3).[0m ×2 + 59.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.971ms + 60.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.610ms + 60.18sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786118170.93878675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.208ms + 60.61sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 60.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.218ms + 60.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385303 ms (missed cycles : 2). + 60.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385303 ms (missed cycles : 2).[0m ×2 + 61.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.824ms + 61.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.680ms + 61.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.210ms + 61.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337399 ms (missed cycles : 3). + 61.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337399 ms (missed cycles : 3).[0m ×2 + 61.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.194ms + 62.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.671ms
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	144 warnings · 140 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[0m ×2 + 4.99sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 5.35sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.35sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756771 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756771 ms (missed cycles : 2).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947953 ms (missed cycles : 3). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947953 ms (missed cycles : 3).[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348580 ms (missed cycles : 3). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348580 ms (missed cycles : 3).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017559 ms (missed cycles : 2). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017559 ms (missed cycles : 2).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393807 ms (missed cycles : 3). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393807 ms (missed cycles : 3).[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416387 ms (missed cycles : 3). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416387 ms (missed cycles : 3).[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423390 ms (missed cycles : 4). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423390 ms (missed cycles : 4).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646822 ms (missed cycles : 3). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646822 ms (missed cycles : 3).[0m ×2 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238164 ms (missed cycles : 3). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238164 ms (missed cycles : 3).[0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763190 ms (missed cycles : 3). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763190 ms (missed cycles : 3).[0m ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141972 ms (missed cycles : 4). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141972 ms (missed cycles : 4).[0m ×2 + 18.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773377 ms (missed cycles : 2). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773377 ms (missed cycles : 2).[0m ×2 + 19.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686243 ms (missed cycles : 2). + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686243 ms (missed cycles : 2).[0m ×2 + 20.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604464 ms (missed cycles : 3). + 20.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604464 ms (missed cycles : 3).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 2.086ms + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548462 ms (missed cycles : 3). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548462 ms (missed cycles : 3).[0m ×2 + 22.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481525 ms (missed cycles : 3). + 22.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481525 ms (missed cycles : 3).[0m ×2 + 23.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216298 ms (missed cycles : 3). + 23.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216298 ms (missed cycles : 3).[0m ×2 + 24.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254353 ms (missed cycles : 2). + 24.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254353 ms (missed cycles : 2).[0m ×2 + 25.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060522 ms (missed cycles : 3). + 25.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060522 ms (missed cycles : 3).[0m ×2 + 26.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965606 ms (missed cycles : 2). + 26.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965606 ms (missed cycles : 2).[0m ×2 + 27.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137465 ms (missed cycles : 4). + 27.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137465 ms (missed cycles : 4).[0m ×2 + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698155 ms (missed cycles : 3). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698155 ms (missed cycles : 3).[0m ×2 + 29.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575175 ms (missed cycles : 3). + 29.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575175 ms (missed cycles : 3).[0m ×2 + 30.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242717 ms (missed cycles : 2). + 30.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242717 ms (missed cycles : 2).[0m ×2 + 31.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974134 ms (missed cycles : 3). + 31.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974134 ms (missed cycles : 3).[0m ×2 + 32.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477135 ms (missed cycles : 3). + 32.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477135 ms (missed cycles : 3).[0m ×2 + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019413 ms (missed cycles : 2). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019413 ms (missed cycles : 2).[0m ×2 + 34.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888418 ms (missed cycles : 2). + 34.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888418 ms (missed cycles : 2).[0m ×2 + 35.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363236 ms (missed cycles : 4). + 35.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363236 ms (missed cycles : 4).[0m ×2 + 36.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843318 ms (missed cycles : 2). + 36.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843318 ms (missed cycles : 2).[0m ×2 + 38.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147102 ms (missed cycles : 4). + 38.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147102 ms (missed cycles : 4).[0m ×2 + 39.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805217 ms (missed cycles : 2). + 39.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805217 ms (missed cycles : 2).[0m ×2 + 40.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833235 ms (missed cycles : 3). + 40.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833235 ms (missed cycles : 3).[0m ×2 + 41.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012900 ms (missed cycles : 3). + 41.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012900 ms (missed cycles : 3).[0m ×2 + 42.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879678 ms (missed cycles : 3). + 42.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879678 ms (missed cycles : 3).[0m ×2 + 43.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927805 ms (missed cycles : 3). + 43.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927805 ms (missed cycles : 3).[0m ×2 + 44.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010503 ms (missed cycles : 2). + 44.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010503 ms (missed cycles : 2).[0m ×2 + 45.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102917 ms (missed cycles : 2). + 45.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102917 ms (missed cycles : 2).[0m ×2 + 46.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384941 ms (missed cycles : 2). + 46.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384941 ms (missed cycles : 2).[0m ×2 + 46.94sINFOjoint_trajectory_controllerGoal reached, success! + 46.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786118016.30544615 seconds ×3 + 47.52sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786118016.86553073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921255 ms (missed cycles : 3). + 47.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921255 ms (missed cycles : 3).[0m ×2 + 48.64sINFOobjective_server_nodeFound path in 0 iterations (2.6086e-05 s). ×2 + 48.64sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307283 ms (missed cycles : 2). + 49.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307283 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.5s	110 warnings · 116 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.290ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885706 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885706 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.283ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577074 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577074 ms (missed cycles : 3).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.748ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863396 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863396 ms (missed cycles : 2).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.75sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.76sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786118082.31002259 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564120 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564120 ms (missed cycles : 3).[0m ×2 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.32sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786118083.87076855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606270 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606270 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (5.82e-07 s). ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209175 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209175 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112952 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112952 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109628 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109628 ms (missed cycles : 2).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052101 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052101 ms (missed cycles : 2).[0m ×2 + 8.79sINFOros2_control_nodeMuJoCo sim: 2.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 8.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.295ms + 9.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.502ms + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094625 ms (missed cycles : 3). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094625 ms (missed cycles : 3).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.412ms + 10.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.818ms + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812092 ms (missed cycles : 3). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812092 ms (missed cycles : 3).[0m ×2 + 10.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.537ms + 11.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.142ms + 11.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.828ms + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971574 ms (missed cycles : 3). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971574 ms (missed cycles : 3).[0m ×2 + 12.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.868ms + 12.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.173ms + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391511 ms (missed cycles : 3). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391511 ms (missed cycles : 3).[0m ×2 + 13.40sINFOamclParticle filter update iteration stats: 3959 particles 723 points - 6.757ms + 13.90sINFOamclParticle filter update iteration stats: 3243 particles 723 points - 4.902ms + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027443 ms (missed cycles : 3). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027443 ms (missed cycles : 3).[0m ×2 + 14.40sINFOamclParticle filter update iteration stats: 2544 particles 723 points - 4.833ms + 14.89sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 3.042ms + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682308 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682308 ms (missed cycles : 2).[0m ×2 + 15.39sINFOamclParticle filter update iteration stats: 1714 particles 723 points - 2.786ms + 15.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530115 ms (missed cycles : 3). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530115 ms (missed cycles : 3).[0m ×2 + 16.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.087ms + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427777 ms (missed cycles : 3). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427777 ms (missed cycles : 3).[0m ×2 + 17.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 17.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 18.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475502 ms (missed cycles : 2). + 18.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475502 ms (missed cycles : 2).[0m ×2 + 18.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms + 18.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 19.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723760 ms (missed cycles : 3). + 19.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723760 ms (missed cycles : 3).[0m ×2 + 19.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms + 19.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 20.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973818 ms (missed cycles : 3). + 20.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973818 ms (missed cycles : 3).[0m ×2 + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.076ms + 21.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540298 ms (missed cycles : 3). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540298 ms (missed cycles : 3).[0m ×2 + 21.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 22.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975993 ms (missed cycles : 4). + 22.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975993 ms (missed cycles : 4).[0m ×2 + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 23.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249721 ms (missed cycles : 4). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249721 ms (missed cycles : 4).[0m ×2 + 23.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.202ms + 24.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881047 ms (missed cycles : 3). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881047 ms (missed cycles : 3).[0m ×2 + 24.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 25.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.151ms + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344168 ms (missed cycles : 4). + 25.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344168 ms (missed cycles : 4).[0m ×2 + 25.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 26.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845818 ms (missed cycles : 2). + 26.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845818 ms (missed cycles : 2).[0m ×2 + 26.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 27.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212375 ms (missed cycles : 4). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212375 ms (missed cycles : 4).[0m ×2 + 28.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 28.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690932 ms (missed cycles : 3). + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690932 ms (missed cycles : 3).[0m ×2 + 29.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 30.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475429 ms (missed cycles : 4). + 30.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475429 ms (missed cycles : 4).[0m ×2 + 30.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 31.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.251680 ms (missed cycles : 4). + 31.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.251680 ms (missed cycles : 4).[0m ×2 + 31.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 31.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073013 ms (missed cycles : 2). + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073013 ms (missed cycles : 2).[0m ×2 + 32.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 32.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 33.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232549 ms (missed cycles : 4). + 33.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232549 ms (missed cycles : 4).[0m ×2 + 33.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 34.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551239 ms (missed cycles : 2). + 34.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551239 ms (missed cycles : 2).[0m ×2 + 34.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 35.25sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786118114.79092622 seconds ×3 + 35.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776894 ms (missed cycles : 2). + 35.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776894 ms (missed cycles : 2).[0m ×2 + 35.39sWARNlocal_costmap.local_costmapSensor origin at (-2.42, 8.94) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 35.39sWARNlocal_costmap.local_costmapSensor origin at (-3.32, 8.92) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 35.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.137ms + 35.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.626ms + 35.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.462ms + 35.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786118115.35422373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.812ms + 36.20sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 36.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.008ms + 36.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018636 ms (missed cycles : 4). + 36.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018636 ms (missed cycles : 4).[0m ×2 + 36.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.215ms + 37.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.604ms + 37.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.537ms + 37.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592278 ms (missed cycles : 2). + 37.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592278 ms (missed cycles : 2).[0m ×2 + 37.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.947ms + 37.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.708ms
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	13.8s	62 warnings · 137 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729651 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729651 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179953 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179953 ms (missed cycles : 4).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.617161 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.617161 ms (missed cycles : 4).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221759 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221759 ms (missed cycles : 4).[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 4.28sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006592 ms (missed cycles : 4). + 4.28sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006592 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786118316.59630561 seconds ×3 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.43sWARNlocal_costmap.local_costmapSensor origin at (-1.73, 8.10) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.43sWARNlocal_costmap.local_costmapSensor origin at (-2.63, 8.12) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.258ms + 4.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.054ms + 4.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.616ms + 4.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786118317.16360545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.690ms + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956251 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956251 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodeFound path in 0 iterations (1.61e-06 s). ×2 + 5.35sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.37sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.37sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.37sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.400ms + 6.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.142ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516830 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516830 ms (missed cycles : 3).[0m ×2 + 7.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.678ms + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022976 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022976 ms (missed cycles : 2).[0m ×2 + 8.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.981ms + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910977 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910977 ms (missed cycles : 3).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216240 ms (missed cycles : 4). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216240 ms (missed cycles : 4).[0m ×2 + 9.64sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 9.67sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.71sINFOobjective_server_nodeFound path in 0 iterations (1.224e-06 s). ×2 + 9.77sINFOobjective_server_nodePath shortcutter: [X_____________________X] ×2 + 9.82sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 9.91sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.97sINFOobjective_server_nodeFound path in 0 iterations (1.41e-06 s). ×2 + 10.14sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 10.19sINFOobjective_server_nodeFound path in 0 iterations (5.01e-07 s). ×2 + 10.39sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×2 + 10.48sINFOobjective_server_nodeFound path in 33 iterations (0.0333106 s). ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074246 ms (missed cycles : 3). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074246 ms (missed cycles : 3).[0m ×2 + 10.79sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 10.86sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 11.32sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.39sINFOobjective_server_nodeFound path in 0 iterations (6.14e-07 s). ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691755 ms (missed cycles : 2). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691755 ms (missed cycles : 2).[0m ×2 + 11.81sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.12sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036605 ms (missed cycles : 3). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036605 ms (missed cycles : 3).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998850 ms (missed cycles : 3). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998850 ms (missed cycles : 3).[0m ×2 + 13.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.901ms + 14.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.157ms + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648054 ms (missed cycles : 3). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648054 ms (missed cycles : 3).[0m ×2 + 15.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.583ms + 15.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.679ms + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400413 ms (missed cycles : 3). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400413 ms (missed cycles : 3).[0m ×2 + 16.05sINFOros2_control_nodeMuJoCo sim: 4.63% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 16.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.559ms + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612568 ms (missed cycles : 3). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612568 ms (missed cycles : 3).[0m ×2 + 17.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.196ms + 18.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786118330.42877889 seconds ×3 + 18.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330024 ms (missed cycles : 2). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330024 ms (missed cycles : 2).[0m ×2 + 18.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.886ms + 18.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.286ms + 18.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786118331.03965926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.73sINFOmove_groupClearing octomap...[0m ×2 + 18.73sINFOmove_groupOctomap cleared.[0m ×2 + 18.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.729ms + 19.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.221ms + 19.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245816 ms (missed cycles : 2). + 19.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245816 ms (missed cycles : 2).[0m ×2 + 19.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786118331.72979832 seconds ×3 + 19.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.280ms + 19.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.779ms + 19.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.437ms + 19.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786118332.28307819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.373ms + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812866 ms (missed cycles : 3). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812866 ms (missed cycles : 3).[0m ×2 + 20.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786118332.79321766 seconds ×3 + 20.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.067ms + 20.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.7s	98 errors · 33 warnings · 402 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.583ms + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.679ms + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400413 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400413 ms (missed cycles : 3).[0m ×2 + 0.91sINFOros2_control_nodeMuJoCo sim: 4.63% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.559ms + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612568 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612568 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.196ms + 2.96sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786118330.42877889 seconds ×3 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330024 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330024 ms (missed cycles : 2).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.886ms + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.286ms + 3.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786118331.03965926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.60sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.729ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.221ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245816 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245816 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786118331.72979832 seconds ×3 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.280ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.779ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.437ms + 4.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786118332.28307819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.373ms + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812866 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812866 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786118332.79321766 seconds ×3 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.067ms + 5.59sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.824ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.295ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804891 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804891 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072392 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072392 ms (missed cycles : 3).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624728 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624728 ms (missed cycles : 3).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658240 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658240 ms (missed cycles : 2).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646845 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646845 ms (missed cycles : 3).[0m ×2 + 11.58sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.58sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.58sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.59sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.59sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.60sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.62sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.62sERRORweb_video_auth_proxy-35process has died [pid 9574, 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 + 11.63sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.63sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.63sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.66sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.66sERRORweb_bridge_auth_proxy-34process has died [pid 9572, 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 + 11.66sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.67sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.67sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.68sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.68sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.68sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.69sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.69sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.70sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.70sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038819 ms (missed cycles : 2). + 11.71sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.71sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.72sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.72sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.73sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.73sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.75sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.78sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.81sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.84sINFOvideo_server-33process has finished cleanly [pid 9571] ×2 + 11.85sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.88sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.91sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.93sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.94sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.97sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 12.01sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 12.04sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 12.06sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9570] ×2 + 12.07sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 12.10sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 12.15sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 12.15sINFOcontroller_managerShutdown request received.... + 12.15sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.15sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.15sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.15sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.15sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.15sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.15sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.15sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.15sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.15sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.15sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.15sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.15sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.15sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.15sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.15sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.15sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.15sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.15sINFOcontroller_managerShutting down the controller manager. + 12.17sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1786118339.316 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.17sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1786118339.316 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.17sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 12.18sERRORmove_group-21process has died [pid 9554, 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_fsjgcvix --params-file /tmp/launch_params_jbogsaal --params-file /tmp/launch_params_0zc0ryad --params-file /tmp/launch_params_k6dx61lc --params-file /tmp/launch_params_e4euzcep --params-file /tmp/launch_params_y6n1ftk0']. ×2 + 12.18sINFOui_teleop_bridge-30process has finished cleanly [pid 9568] ×2 + 12.20sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 12.20sINFOcomponent_container_mt-28process has finished cleanly [pid 9566] ×2 + 12.22sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 12.23sINFOexecute_objective_bridge-29process has finished cleanly [pid 9567] ×2 + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038819 ms (missed cycles : 2).[0m ×2 + 12.25sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 12.27sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 12.30sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.32sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.32sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.32sINFOmap_serverDeactivating + 12.32sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.33sINFOmap_serverCleaning up + 12.33sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.33sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.34sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.34sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.34sINFOcontroller_serverDeactivating + 12.34sINFOlocal_costmap.local_costmapDeactivating + 12.34sINFOvideo_server2026/08/07 15:58:59 INF shutting down gracefully ×2 + 12.35sINFOvideo_server2026/08/07 15:58:59 INF [WebRTC] closing ×2 + 12.35sINFOvideo_server2026/08/07 15:58:59 INF [RTSP] closing ×2 + 12.35sINFOvideo_server2026/08/07 15:58:59 INF waiting for running hooks ×2 + 12.35sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.35sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.35sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.35sERRORamclThe bond connection to the lifecycle manager has been broken + 12.35sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.35sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.35sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.36sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.36sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.36sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.36sERRORmove_groupStack trace (most recent call last) in thread 10176: ×2 + 12.36sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.36sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7e77017a63, in __clone ×2 + 12.36sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7e76f8aaa3, in ×2 + 12.36sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7e7721cdb3, in ×2 + 12.36sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f7e77988ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.36sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7e775ae620, in rclcpp::Rate::sleep() ×2 + 12.36sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7e774f0d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.36sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7e774b2087, in ×2 + 12.36sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7e771eb390, in __cxa_throw ×2 + 12.36sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7e771d5a54, in std::terminate() ×2 + 12.36sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7e771eb0d9, in ×2 + 12.36sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7e771d5ff4, in ×2 + 12.36sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7e76f168fe, in abort ×2 + 12.36sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7e76f3327d, in raise ×2 + 12.36sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7e76f8cb2c, in pthread_kill ×2 + 12.36sERRORmove_groupAborted (Signal sent by tkill() 9554 0) ×2 + 12.36sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.36sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.36sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.36sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.36sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.36sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.36sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.36sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.36sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.36sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.36sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.36sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.36sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.37sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.37sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.37sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.37sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 12.37sINFOodom_qos_relay.pymain() ×2 + 12.37sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 12.37sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.37sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.37sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.37sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.37sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.37sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.37sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.37sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.37sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.37sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.37sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.37sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.37sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.37sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.37sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.38sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.38sINFOros2_control_nodepublish_async_failures_ 5[0m ×2 + 12.38sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 12.39sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.40sINFOcontroller_serverCleaning up + 12.40sINFOlocal_costmap.local_costmapCleaning up + 12.45sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.45sINFOsmoother_serverDeactivating + 12.45sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.46sINFOsmoother_serverCleaning up + 12.48sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.48sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.48sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.48sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.48sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.48sINFOvelocity_smootherDeactivating + 12.48sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.48sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.48sINFOplanner_serverDeactivating + 12.48sINFOglobal_costmap.global_costmapDeactivating + 12.55sERRORcomponent_container_isolated-2process has died [pid 9437, 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_db4z5chv --params-file /tmp/launch_params_hp5nvt8e -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.59sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.59sINFOwaypoint_followerDeactivating + 12.59sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.62sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.62sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.63sINFOplanner_serverCleaning up + 12.65sINFOglobal_costmap.global_costmapCleaning up + 12.66sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.66sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.69sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.69sINFObehavior_serverDeactivating + 12.69sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.70sINFObehavior_serverCleaning up + 12.70sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.70sINFObt_navigatorDeactivating + 12.70sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.71sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.71sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.71sINFOwaypoint_followerCleaning up + 12.72sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.72sINFOvelocity_smootherCleaning up + 12.72sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.82sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.82sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.82sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 12.82sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.82sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.82sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.82sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.82sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.82sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.82sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.82sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.82sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.82sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.82sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.82sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.84sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.84sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.84sINFObt_navigatorCleaning up + 13.02sINFObt_navigatorCompleted Cleaning up + 13.02sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 13.02sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.02sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 13.02sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.02sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 13.02sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.02sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 13.02sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.02sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 13.03sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9563] ×2 + 13.06sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9562] ×2 + 13.12sINFOobjective_server_node[2026-08-07 15:59:00.569] [moveit_pro_license] [info] ×2 + 13.13sINFOobjective_server_node************************************************* ×4 + 13.13sINFOobjective_server_node* MoveIt Pro License ×2 + 13.13sINFOobjective_server_node* Application has successfully terminated ×2 + 13.14sINFOwaypoint_manager_node-23process has finished cleanly [pid 9556] ×2 + 13.14sINFOcomponent_container_mt-27process has finished cleanly [pid 9565] ×2 + 13.15sINFOparameter_manager_node-22process has finished cleanly [pid 9555] ×2 + 13.18sINFOobjective_server_node_main-26process has finished cleanly [pid 9564] ×2 + 13.18sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 13.22sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9443] ×2 + 13.25sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9442] ×2 + 13.31sINFOstatic_transform_publisher-4process has finished cleanly [pid 9439] ×2 + 13.33sERRORcomponent_container_isolated-1process has died [pid 9436, 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_db4z5chv --params-file /tmp/launch_params_h83golqe -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.34sINFOstatic_transform_publisher-3process has finished cleanly [pid 9438] ×2 + 13.35sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9441] ×2 + 13.36sERRORodom_qos_relay.py-5process has died [pid 9440, 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 + 14.59sINFOweb_bridge-31process has finished cleanly [pid 9569] ×2 + 14.59sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.88sINFOros2_control_node-9process has finished cleanly [pid 9444] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.1s	3 errors · 55 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476626 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476626 ms (missed cycles : 4).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.250ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705181 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705181 ms (missed cycles : 3).[0m ×2 + 1.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.314ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001920 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001920 ms (missed cycles : 4).[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438412 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438412 ms (missed cycles : 3).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.99sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786118170.36436033 seconds ×3 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.06sWARNlocal_costmap.local_costmapSensor origin at (-1.85, 10.64) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.06sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 11.15) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998347 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998347 ms (missed cycles : 3).[0m ×2 + 4.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.971ms + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.610ms + 4.56sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786118170.93878675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.208ms + 4.98sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 5.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.218ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385303 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385303 ms (missed cycles : 2).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.824ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.680ms + 5.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.210ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337399 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337399 ms (missed cycles : 3).[0m ×2 + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.194ms + 6.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.671ms + 6.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 6.72sINFOjoint_trajectory_controllerReceived new action goal + 6.72sINFOjoint_trajectory_controllerAccepted new action goal + 6.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490248 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490248 ms (missed cycles : 3).[0m ×2 + 7.36sINFOamclParticle filter update iteration stats: 4559 particles 723 points - 6.367ms + 7.66sINFOamclParticle filter update iteration stats: 3201 particles 723 points - 5.094ms + 7.96sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 3.238ms + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893019 ms (missed cycles : 4). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893019 ms (missed cycles : 4).[0m ×2 + 8.36sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 2.266ms + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321413 ms (missed cycles : 5). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321413 ms (missed cycles : 5).[0m ×2 + 9.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.207ms + 10.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833849 ms (missed cycles : 3). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833849 ms (missed cycles : 3).[0m ×2 + 10.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 11.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769971 ms (missed cycles : 3). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769971 ms (missed cycles : 3).[0m ×2 + 11.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 12.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852343 ms (missed cycles : 3). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852343 ms (missed cycles : 3).[0m ×2 + 12.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 13.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458756 ms (missed cycles : 4). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458756 ms (missed cycles : 4).[0m ×2 + 13.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 14.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056090 ms (missed cycles : 5). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056090 ms (missed cycles : 5).[0m ×2 + 14.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 15.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.02sINFOjoint_trajectory_controllerGot request to cancel goal + 15.02sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 15.02sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 15.02sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 15.07sERRORobjective_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: 1786118181.45046997 seconds ×3 + 15.16sWARNlocal_costmap.local_costmapSensor origin at (-0.77, 4.09) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 15.16sWARNlocal_costmap.local_costmapSensor origin at (-1.67, 4.01) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 15.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.950ms + 15.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.364ms + 15.64sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786118182.01535821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768103 ms (missed cycles : 3). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768103 ms (missed cycles : 3).[0m ×2 + 15.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.932ms + 16.03sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 16.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.600ms + 16.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.704ms + 16.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.174ms + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527297 ms (missed cycles : 5). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527297 ms (missed cycles : 5).[0m ×2 + 17.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.036ms + 17.37sINFOamclParticle filter update iteration stats: 4415 particles 723 points - 8.530ms + 17.65sINFOamclParticle filter update iteration stats: 2596 particles 723 points - 6.392ms
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	5.8s	38 warnings · 58 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262551 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262551 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149685 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149685 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838158 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838158 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029380 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029380 ms (missed cycles : 2).[0m ×2 + 3.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 3.87sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.87sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786118077.54389644 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004659 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004659 ms (missed cycles : 3).[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.227ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.017ms + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786118078.11987519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.160ms + 4.91sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.551ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068719 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068719 ms (missed cycles : 3).[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.290ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885706 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885706 ms (missed cycles : 3).[0m ×2 + 6.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.283ms + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577074 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577074 ms (missed cycles : 3).[0m ×2 + 8.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.748ms + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863396 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863396 ms (missed cycles : 2).[0m ×2 + 8.66sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786118082.31002259 seconds ×3 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564120 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564120 ms (missed cycles : 3).[0m ×2 + 10.22sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786118083.87076855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606270 ms (missed cycles : 3). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606270 ms (missed cycles : 3).[0m ×2 + 10.65sINFOobjective_server_nodeFound path in 0 iterations (5.82e-07 s). ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209175 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209175 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	4.9s	35 warnings · 58 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176458 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176458 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436141 ms (missed cycles : 5). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436141 ms (missed cycles : 5).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875461 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875461 ms (missed cycles : 4).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686994 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686994 ms (missed cycles : 4).[0m ×2 + 4.23sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.23sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.27sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786118254.30558801 seconds ×3 + 4.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sWARNlocal_costmap.local_costmapSensor origin at (-2.32, 13.71) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.40sWARNlocal_costmap.local_costmapSensor origin at (-3.12, 13.30) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673720 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673720 ms (missed cycles : 2).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.500ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.047ms + 4.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786118254.88871002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.244ms + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.598ms + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.446ms + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.910ms + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858440 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858440 ms (missed cycles : 3).[0m ×2 + 8.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.458ms + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867145 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867145 ms (missed cycles : 3).[0m ×2 + 9.15sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786118259.18886304 seconds ×3 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188961 ms (missed cycles : 4). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188961 ms (missed cycles : 4).[0m ×2 + 9.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786118259.76616120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.19sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230688 ms (missed cycles : 2). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230688 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.8s	27 warnings · 50 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927805 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927805 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010503 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010503 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102917 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102917 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384941 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384941 ms (missed cycles : 2).[0m ×2 + 3.42sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.42sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786118016.30544615 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786118016.86553073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921255 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921255 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (2.6086e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307283 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307283 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300800 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300800 ms (missed cycles : 2).[0m ×2 + 7.30sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786118020.15567350 seconds ×3 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789272 ms (missed cycles : 3). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789272 ms (missed cycles : 3).[0m ×2 + 7.87sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786118020.72370505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388980 ms (missed cycles : 3). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388980 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.3s	24 warnings · 51 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998850 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998850 ms (missed cycles : 3).[0m ×2 + 0.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.901ms + 0.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.157ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648054 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648054 ms (missed cycles : 3).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.583ms + 1.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.679ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400413 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400413 ms (missed cycles : 3).[0m ×2 + 2.28sINFOros2_control_nodeMuJoCo sim: 4.63% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.559ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612568 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612568 ms (missed cycles : 3).[0m ×2 + 3.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.196ms + 4.33sINFOjoint_trajectory_controllerGoal reached, success! + 4.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.35sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786118330.42877889 seconds ×3 + 4.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330024 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330024 ms (missed cycles : 2).[0m ×2 + 4.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.886ms + 4.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.286ms + 4.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786118331.03965926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.96sINFOmove_groupClearing octomap...[0m ×2 + 4.97sINFOmove_groupOctomap cleared.[0m ×2 + 5.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.729ms + 5.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.221ms + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245816 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245816 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786118331.72979832 seconds ×3 + 5.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.280ms + 5.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.779ms + 6.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.437ms + 6.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786118332.28307819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.373ms + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812866 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812866 ms (missed cycles : 3).[0m ×2 + 6.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786118332.79321766 seconds ×3 + 6.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.067ms + 6.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.824ms + 7.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.295ms + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804891 ms (missed cycles : 2). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804891 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 110 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.42sINFOmove_groupClearing octomap...[0m ×2 + 1.43sINFOmove_groupOctomap cleared.[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[0m ×2 + 4.99sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 50 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384941 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384941 ms (missed cycles : 2).[0m ×2 + 0.31sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.31sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786118016.30544615 seconds ×3 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786118016.86553073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921255 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921255 ms (missed cycles : 3).[0m ×2 + 2.01sINFOobjective_server_nodeFound path in 0 iterations (2.6086e-05 s). ×2 + 2.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.03sINFOjoint_trajectory_controllerReceived new action goal + 2.03sINFOjoint_trajectory_controllerAccepted new action goal + 2.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307283 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307283 ms (missed cycles : 2).[0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300800 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300800 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786118020.15567350 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789272 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789272 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786118020.72370505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388980 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388980 ms (missed cycles : 3).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	18 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.047ms + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786118254.88871002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.244ms + 0.50sINFOjoint_trajectory_controllerReceived new action goal + 0.50sINFOjoint_trajectory_controllerAccepted new action goal + 0.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.598ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.446ms + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.910ms + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858440 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858440 ms (missed cycles : 3).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.458ms + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867145 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867145 ms (missed cycles : 3).[0m ×2 + 4.32sINFOjoint_trajectory_controllerGoal reached, success! + 4.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786118259.18886304 seconds ×3 + 4.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188961 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188961 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786118259.76616120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230688 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230688 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	18 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.047ms + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786118254.88871002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.244ms + 0.50sINFOjoint_trajectory_controllerReceived new action goal + 0.50sINFOjoint_trajectory_controllerAccepted new action goal + 0.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.598ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.446ms + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.910ms + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858440 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858440 ms (missed cycles : 3).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.458ms + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867145 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867145 ms (missed cycles : 3).[0m ×2 + 4.32sINFOjoint_trajectory_controllerGoal reached, success! + 4.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786118259.18886304 seconds ×3 + 4.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188961 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188961 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786118259.76616120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230688 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230688 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	18 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.047ms + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786118254.88871002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.244ms + 0.50sINFOjoint_trajectory_controllerReceived new action goal + 0.50sINFOjoint_trajectory_controllerAccepted new action goal + 0.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.598ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.446ms + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.910ms + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858440 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858440 ms (missed cycles : 3).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.458ms + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867145 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867145 ms (missed cycles : 3).[0m ×2 + 4.32sINFOjoint_trajectory_controllerGoal reached, success! + 4.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786118259.18886304 seconds ×3 + 4.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188961 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188961 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786118259.76616120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230688 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230688 ms (missed cycles : 2).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	18 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.047ms + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786118254.88871002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.244ms + 0.50sINFOjoint_trajectory_controllerReceived new action goal + 0.50sINFOjoint_trajectory_controllerAccepted new action goal + 0.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.598ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.446ms + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.910ms + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858440 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858440 ms (missed cycles : 3).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.458ms + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867145 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867145 ms (missed cycles : 3).[0m ×2 + 4.32sINFOjoint_trajectory_controllerGoal reached, success! + 4.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786118259.18886304 seconds ×3 + 4.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188961 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188961 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786118259.76616120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230688 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230688 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	18 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.047ms + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786118254.88871002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.244ms + 0.50sINFOjoint_trajectory_controllerReceived new action goal + 0.50sINFOjoint_trajectory_controllerAccepted new action goal + 0.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.598ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.446ms + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.910ms + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858440 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858440 ms (missed cycles : 3).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.458ms + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867145 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867145 ms (missed cycles : 3).[0m ×2 + 4.32sINFOjoint_trajectory_controllerGoal reached, success! + 4.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786118259.18886304 seconds ×3 + 4.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188961 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188961 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786118259.76616120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230688 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230688 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	18 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.047ms + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786118254.88871002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.244ms + 0.50sINFOjoint_trajectory_controllerReceived new action goal + 0.50sINFOjoint_trajectory_controllerAccepted new action goal + 0.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.598ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.446ms + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.910ms + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858440 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858440 ms (missed cycles : 3).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.458ms + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867145 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867145 ms (missed cycles : 3).[0m ×2 + 4.32sINFOjoint_trajectory_controllerGoal reached, success! + 4.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786118259.18886304 seconds ×3 + 4.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188961 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188961 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786118259.76616120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230688 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230688 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	18 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.047ms + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786118254.88871002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.244ms + 0.50sINFOjoint_trajectory_controllerReceived new action goal + 0.50sINFOjoint_trajectory_controllerAccepted new action goal + 0.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.598ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670836 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.446ms + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910905 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.910ms + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858440 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858440 ms (missed cycles : 3).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.458ms + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867145 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867145 ms (missed cycles : 3).[0m ×2 + 4.32sINFOjoint_trajectory_controllerGoal reached, success! + 4.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786118259.18886304 seconds ×3 + 4.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188961 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188961 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786118259.76616120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230688 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230688 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	21 warnings · 49 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998850 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998850 ms (missed cycles : 3).[0m ×2 + 0.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.901ms + 0.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.157ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648054 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648054 ms (missed cycles : 3).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.583ms + 1.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.679ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400413 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400413 ms (missed cycles : 3).[0m ×2 + 2.28sINFOros2_control_nodeMuJoCo sim: 4.63% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.559ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612568 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612568 ms (missed cycles : 3).[0m ×2 + 3.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.196ms + 4.33sINFOjoint_trajectory_controllerGoal reached, success! + 4.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.35sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786118330.42877889 seconds ×3 + 4.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330024 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330024 ms (missed cycles : 2).[0m ×2 + 4.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.886ms + 4.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.286ms + 4.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786118331.03965926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.96sINFOmove_groupClearing octomap...[0m ×2 + 4.97sINFOmove_groupOctomap cleared.[0m ×2 + 5.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.729ms + 5.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.221ms + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245816 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245816 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786118331.72979832 seconds ×3 + 5.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.280ms + 5.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.779ms + 6.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.437ms + 6.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786118332.28307819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.373ms + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812866 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812866 ms (missed cycles : 3).[0m ×2 + 6.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786118332.79321766 seconds ×3 + 6.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.067ms + 6.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	18 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927805 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927805 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010503 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010503 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102917 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102917 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384941 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384941 ms (missed cycles : 2).[0m ×2 + 3.42sINFOjoint_trajectory_controllerGoal reached, success! + 3.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786118016.30544615 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786118016.86553073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921255 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921255 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (2.6086e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307283 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307283 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	18 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927805 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927805 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010503 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010503 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102917 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102917 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384941 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384941 ms (missed cycles : 2).[0m ×2 + 3.42sINFOjoint_trajectory_controllerGoal reached, success! + 3.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786118016.30544615 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786118016.86553073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921255 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921255 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (2.6086e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307283 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307283 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.58sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_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 + 5.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262551 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262551 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149685 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149685 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838158 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838158 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029380 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029380 ms (missed cycles : 2).[0m ×2 + 3.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 3.87sINFOjoint_trajectory_controllerGoal reached, success! + 3.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786118077.54389644 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004659 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004659 ms (missed cycles : 3).[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.227ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.017ms + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786118078.11987519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.160ms + 4.91sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.551ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068719 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068719 ms (missed cycles : 3).[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.290ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885706 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885706 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262551 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262551 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149685 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149685 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838158 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838158 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029380 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029380 ms (missed cycles : 2).[0m ×2 + 3.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 3.87sINFOjoint_trajectory_controllerGoal reached, success! + 3.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786118077.54389644 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004659 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004659 ms (missed cycles : 3).[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.227ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.017ms + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786118078.11987519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.160ms + 4.91sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.551ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068719 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068719 ms (missed cycles : 3).[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.290ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885706 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885706 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262551 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262551 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149685 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149685 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838158 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838158 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029380 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029380 ms (missed cycles : 2).[0m ×2 + 3.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 3.87sINFOjoint_trajectory_controllerGoal reached, success! + 3.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786118077.54389644 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004659 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004659 ms (missed cycles : 3).[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.227ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.017ms + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786118078.11987519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.160ms + 4.91sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.551ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068719 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068719 ms (missed cycles : 3).[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.290ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885706 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885706 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	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262551 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262551 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149685 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149685 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838158 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838158 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029380 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029380 ms (missed cycles : 2).[0m ×2 + 3.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 3.87sINFOjoint_trajectory_controllerGoal reached, success! + 3.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786118077.54389644 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004659 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004659 ms (missed cycles : 3).[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.227ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.017ms + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786118078.11987519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.160ms + 4.91sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.551ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068719 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068719 ms (missed cycles : 3).[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.290ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885706 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885706 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262551 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262551 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149685 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149685 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838158 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838158 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029380 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029380 ms (missed cycles : 2).[0m ×2 + 3.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 3.87sINFOjoint_trajectory_controllerGoal reached, success! + 3.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786118077.54389644 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004659 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004659 ms (missed cycles : 3).[0m ×2 + 4.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.227ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.017ms + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786118078.11987519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.160ms + 4.91sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.551ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068719 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068719 ms (missed cycles : 3).[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.290ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885706 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885706 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	23 warnings · 37 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.251680 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.251680 ms (missed cycles : 4).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073013 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073013 ms (missed cycles : 2).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232549 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232549 ms (missed cycles : 4).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551239 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551239 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 3.99sINFOjoint_trajectory_controllerGoal reached, success! + 3.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.04sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786118114.79092622 seconds ×3 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776894 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776894 ms (missed cycles : 2).[0m ×2 + 4.18sWARNlocal_costmap.local_costmapSensor origin at (-2.42, 8.94) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.18sWARNlocal_costmap.local_costmapSensor origin at (-3.32, 8.92) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.137ms + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.626ms + 4.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.462ms + 4.60sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786118115.35422373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.812ms + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 5.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.008ms + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018636 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018636 ms (missed cycles : 4).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.215ms + 5.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.604ms + 6.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.537ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592278 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592278 ms (missed cycles : 2).[0m ×2 + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.947ms + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.708ms
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	23 warnings · 37 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.251680 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.251680 ms (missed cycles : 4).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073013 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073013 ms (missed cycles : 2).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232549 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232549 ms (missed cycles : 4).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551239 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551239 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 3.99sINFOjoint_trajectory_controllerGoal reached, success! + 3.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.04sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786118114.79092622 seconds ×3 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776894 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776894 ms (missed cycles : 2).[0m ×2 + 4.18sWARNlocal_costmap.local_costmapSensor origin at (-2.42, 8.94) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.18sWARNlocal_costmap.local_costmapSensor origin at (-3.32, 8.92) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.137ms + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.626ms + 4.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.462ms + 4.60sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786118115.35422373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.812ms + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 5.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.008ms + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018636 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018636 ms (missed cycles : 4).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.215ms + 5.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.604ms + 6.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.537ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592278 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592278 ms (missed cycles : 2).[0m ×2 + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.947ms + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.708ms
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	23 warnings · 37 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.251680 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.251680 ms (missed cycles : 4).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073013 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073013 ms (missed cycles : 2).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232549 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232549 ms (missed cycles : 4).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551239 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551239 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 3.99sINFOjoint_trajectory_controllerGoal reached, success! + 3.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.04sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786118114.79092622 seconds ×3 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776894 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776894 ms (missed cycles : 2).[0m ×2 + 4.18sWARNlocal_costmap.local_costmapSensor origin at (-2.42, 8.94) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.18sWARNlocal_costmap.local_costmapSensor origin at (-3.32, 8.92) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.137ms + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.626ms + 4.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.462ms + 4.60sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786118115.35422373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.812ms + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 5.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.008ms + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018636 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018636 ms (missed cycles : 4).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.215ms + 5.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.604ms + 6.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.537ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592278 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592278 ms (missed cycles : 2).[0m ×2 + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.947ms + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.708ms
− skipped	Open Gripper	open_gripper.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.58sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_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 + 5.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.58sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_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 + 5.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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	—	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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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 1.840721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.58sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_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 + 5.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[0m ×2 + 7.14sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 7.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 7.50sINFOjoint_trajectory_controllerReceived new action goal + 7.50sINFOjoint_trajectory_controllerAccepted new action goal + 7.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.51sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019164 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019164 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 2.24sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.68sINFOmove_groupClearing octomap...[0m ×2 + 4.68sINFOmove_groupOctomap cleared.[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.57sINFOobjective_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 + 6.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 7.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.58sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_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 + 5.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 3.019164 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019164 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 2.24sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.68sINFOmove_groupClearing octomap...[0m ×2 + 4.68sINFOmove_groupOctomap cleared.[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.57sINFOobjective_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 + 6.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.58sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_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 + 5.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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 1.840721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.58sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_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 + 5.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.58sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_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 + 5.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840721 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.58sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_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 + 5.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.50sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 6.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

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

10 skip

− 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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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_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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_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 1.947656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947656 ms (missed cycles : 2).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 2.51% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864467 ms (missed cycles : 2).[0m ×2 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109735 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786117970.76224732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.56sINFOmove_groupClearing octomap...[0m ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786117970.77248478 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786117971.34243107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786117971.35256863 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427799 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786117971.90689731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786117972.05755949 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980707 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786117972.64626026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_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 + 4.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786117972.69639945 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786117973.25662637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_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 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884830 ms (missed cycles : 2).[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 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689357 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2