69
Total objective tests
17
Objectives passed
1
Objectives failed
51
Objectives skipped
29.5s
Avg test time
94%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives1 fail12 pass24 skip
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 180.5s | 3 errors · 533 warnings · 168 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783594 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783594 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627784 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627784 ms (missed cycles : 4).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053490 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053490 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465283 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465283 ms (missed cycles : 4).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.78sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786122080.09786248 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.89sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.89sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.84) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.832ms + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786122080.66273856 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.127ms + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184320 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184320 ms (missed cycles : 2).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.132ms + 4.82sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 5.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.470ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.504ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004881 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004881 ms (missed cycles : 3).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.287ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.003ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.831ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.560ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969479 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969479 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.75sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.75sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.75sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.76sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.486ms + 7.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.113ms + 7.60sINFOamclParticle filter update iteration stats: 4073 particles 723 points - 5.484ms + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262688 ms (missed cycles : 3). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262688 ms (missed cycles : 3).[0m ×2 + 7.90sINFOamclParticle filter update iteration stats: 3159 particles 723 points - 4.327ms + 8.20sINFOamclParticle filter update iteration stats: 2261 particles 723 points - 3.192ms + 8.60sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 2.642ms + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070524 ms (missed cycles : 3). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070524 ms (missed cycles : 3).[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556935 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556935 ms (missed cycles : 3).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 2.756ms + 10.50sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 2.337ms + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348986 ms (missed cycles : 2). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348986 ms (missed cycles : 2).[0m ×2 + 11.00sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 1.432ms + 11.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912043 ms (missed cycles : 2). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912043 ms (missed cycles : 2).[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.211ms + 12.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 13.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767049 ms (missed cycles : 2). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767049 ms (missed cycles : 2).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.118ms + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221523 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221523 ms (missed cycles : 2).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540308 ms (missed cycles : 3). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540308 ms (missed cycles : 3).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314022 ms (missed cycles : 2). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314022 ms (missed cycles : 2).[0m ×2 + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732307 ms (missed cycles : 3). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732307 ms (missed cycles : 3).[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.247ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049268 ms (missed cycles : 4). + 18.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049268 ms (missed cycles : 4).[0m ×2 + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 19.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197483 ms (missed cycles : 2). + 19.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197483 ms (missed cycles : 2).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms + 20.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471655 ms (missed cycles : 4). + 20.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471655 ms (missed cycles : 4).[0m ×2 + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 21.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265113 ms (missed cycles : 3). + 21.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265113 ms (missed cycles : 3).[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 22.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779026 ms (missed cycles : 2). + 22.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779026 ms (missed cycles : 2).[0m ×2 + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 23.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129066 ms (missed cycles : 3). + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129066 ms (missed cycles : 3).[0m ×2 + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522104 ms (missed cycles : 3). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522104 ms (missed cycles : 3).[0m ×2 + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672518 ms (missed cycles : 4). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672518 ms (missed cycles : 4).[0m ×2 + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 26.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729025 ms (missed cycles : 5). + 26.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729025 ms (missed cycles : 5).[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904023 ms (missed cycles : 3). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904023 ms (missed cycles : 3).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 28.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.209ms + 28.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562219 ms (missed cycles : 5). + 28.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562219 ms (missed cycles : 5).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 30.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.352604 ms (missed cycles : 4). + 30.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.352604 ms (missed cycles : 4).[0m ×2 + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 31.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690572 ms (missed cycles : 2). + 31.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690572 ms (missed cycles : 2).[0m ×2 + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 32.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553015 ms (missed cycles : 3). + 32.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553015 ms (missed cycles : 3).[0m ×2 + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 33.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937802 ms (missed cycles : 5). + 33.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937802 ms (missed cycles : 5).[0m ×2 + 34.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815879 ms (missed cycles : 3). + 34.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815879 ms (missed cycles : 3).[0m ×2 + 35.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709760 ms (missed cycles : 4). + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709760 ms (missed cycles : 4).[0m ×2 + 35.73sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931665 ms (missed cycles : 3). + 36.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931665 ms (missed cycles : 3).[0m ×2 + 36.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.46sINFOobjective_server_nodePlanning for 59 path waypoints. ×3 + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505955 ms (missed cycles : 2). + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505955 ms (missed cycles : 2).[0m ×2 + 37.81sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 37.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 38.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612713 ms (missed cycles : 3). + 38.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612713 ms (missed cycles : 3).[0m ×2 + 38.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 39.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 39.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222372 ms (missed cycles : 5). + 39.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222372 ms (missed cycles : 5).[0m ×2 + 39.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 40.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 40.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 40.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335511 ms (missed cycles : 3). + 40.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335511 ms (missed cycles : 3).[0m ×2 + 41.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 41.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089053 ms (missed cycles : 4). + 41.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089053 ms (missed cycles : 4).[0m ×2 + 42.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349464 ms (missed cycles : 4). + 42.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349464 ms (missed cycles : 4).[0m ×2 + 43.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996717 ms (missed cycles : 3). + 43.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996717 ms (missed cycles : 3).[0m ×2 + 44.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 44.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075485 ms (missed cycles : 3). + 44.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075485 ms (missed cycles : 3).[0m ×2 + 45.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 45.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829301 ms (missed cycles : 3). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829301 ms (missed cycles : 3).[0m ×2 + 46.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 47.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219108 ms (missed cycles : 3). + 47.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219108 ms (missed cycles : 3).[0m ×2 + 47.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 48.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797554 ms (missed cycles : 2). + 48.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797554 ms (missed cycles : 2).[0m ×2 + 48.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 49.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950392 ms (missed cycles : 3). + 49.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950392 ms (missed cycles : 3).[0m ×2 + 49.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 50.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975275 ms (missed cycles : 3). + 50.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975275 ms (missed cycles : 3).[0m ×2 + 50.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 51.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033627 ms (missed cycles : 2). + 51.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033627 ms (missed cycles : 2).[0m ×2 + 51.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 52.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 52.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216839 ms (missed cycles : 3). + 52.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216839 ms (missed cycles : 3).[0m ×2 + 53.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.128ms + 53.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548545 ms (missed cycles : 3). + 53.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548545 ms (missed cycles : 3).[0m ×2 + 54.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 54.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950172 ms (missed cycles : 2). + 54.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950172 ms (missed cycles : 2).[0m ×2 + 55.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325871 ms (missed cycles : 4). + 55.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325871 ms (missed cycles : 4).[0m ×2 + 56.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 56.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525427 ms (missed cycles : 3). + 56.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525427 ms (missed cycles : 3).[0m ×2 + 58.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.166ms + 58.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651824 ms (missed cycles : 3). + 58.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651824 ms (missed cycles : 3).[0m ×2 + 59.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830163 ms (missed cycles : 3). + 59.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830163 ms (missed cycles : 3).[0m ×2 + 59.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 60.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702346 ms (missed cycles : 3). + 60.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702346 ms (missed cycles : 3).[0m ×2 + 60.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 61.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 61.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333966 ms (missed cycles : 4). + 61.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333966 ms (missed cycles : 4).[0m ×2 + 61.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 62.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981327 ms (missed cycles : 3). + 62.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981327 ms (missed cycles : 3).[0m ×2 + 63.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159989 ms (missed cycles : 2). + 63.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159989 ms (missed cycles : 2).[0m ×2 + 64.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537569 ms (missed cycles : 3). + 64.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537569 ms (missed cycles : 3).[0m ×2 + 65.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692657 ms (missed cycles : 2). + 65.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692657 ms (missed cycles : 2).[0m ×2 + 66.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079362 ms (missed cycles : 2). + 66.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079362 ms (missed cycles : 2).[0m ×2 + 67.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806430 ms (missed cycles : 3). + 67.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806430 ms (missed cycles : 3).[0m ×2 + 68.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886521 ms (missed cycles : 3). + 68.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886521 ms (missed cycles : 3).[0m ×2 + 69.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720380 ms (missed cycles : 2). + 69.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720380 ms (missed cycles : 2).[0m ×2 + 70.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972186 ms (missed cycles : 3). + 70.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972186 ms (missed cycles : 3).[0m ×2 + 71.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694697 ms (missed cycles : 2). + 71.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694697 ms (missed cycles : 2).[0m ×2 + 72.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416791 ms (missed cycles : 3). + 72.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416791 ms (missed cycles : 3).[0m ×2 + 73.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614719 ms (missed cycles : 3). + 73.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614719 ms (missed cycles : 3).[0m ×2 + 75.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589903 ms (missed cycles : 3). + 75.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589903 ms (missed cycles : 3).[0m ×2 + 76.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800088 ms (missed cycles : 2). + 76.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800088 ms (missed cycles : 2).[0m ×2 + 77.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405162 ms (missed cycles : 3). + 77.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405162 ms (missed cycles : 3).[0m ×2 + 78.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591992 ms (missed cycles : 4). + 78.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591992 ms (missed cycles : 4).[0m ×2 + 79.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593772 ms (missed cycles : 3). + 79.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593772 ms (missed cycles : 3).[0m ×2 + 80.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317785 ms (missed cycles : 2). + 80.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317785 ms (missed cycles : 2).[0m ×2 + 81.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376674 ms (missed cycles : 4). + 81.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376674 ms (missed cycles : 4).[0m ×2 + 82.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544783 ms (missed cycles : 2). + 82.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544783 ms (missed cycles : 2).[0m ×2 + 83.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698975 ms (missed cycles : 3). + 83.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698975 ms (missed cycles : 3).[0m ×2 + 84.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365610 ms (missed cycles : 3). + 84.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365610 ms (missed cycles : 3).[0m ×2 + 85.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863590 ms (missed cycles : 2). + 85.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863590 ms (missed cycles : 2).[0m ×2 + 87.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323153 ms (missed cycles : 2). + 87.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323153 ms (missed cycles : 2).[0m ×2 + 88.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983970 ms (missed cycles : 2). + 88.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983970 ms (missed cycles : 2).[0m ×2 + 89.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086179 ms (missed cycles : 4). + 89.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086179 ms (missed cycles : 4).[0m ×2 + 90.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204244 ms (missed cycles : 3). + 90.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204244 ms (missed cycles : 3).[0m ×2 + 91.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861778 ms (missed cycles : 3). + 91.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861778 ms (missed cycles : 3).[0m ×2 + 92.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762824 ms (missed cycles : 2). + 92.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762824 ms (missed cycles : 2).[0m ×2 + 93.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869556 ms (missed cycles : 3). + 93.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869556 ms (missed cycles : 3).[0m ×2 + 94.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801625 ms (missed cycles : 2). + 94.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801625 ms (missed cycles : 2).[0m ×2 + 95.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352513 ms (missed cycles : 3). + 95.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352513 ms (missed cycles : 3).[0m ×2 + 96.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031471 ms (missed cycles : 2). + 96.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031471 ms (missed cycles : 2).[0m ×2 + 97.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345663 ms (missed cycles : 4). + 97.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345663 ms (missed cycles : 4).[0m ×2 + 97.81sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 98.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780359 ms (missed cycles : 2). + 98.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780359 ms (missed cycles : 2).[0m ×2 + 99.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835628 ms (missed cycles : 2). + 99.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835628 ms (missed cycles : 2).[0m ×2 +100.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842168 ms (missed cycles : 2). +100.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842168 ms (missed cycles : 2).[0m ×2 +101.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386959 ms (missed cycles : 3). +101.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386959 ms (missed cycles : 3).[0m ×2 +102.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420574 ms (missed cycles : 4). +102.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420574 ms (missed cycles : 4).[0m ×2 +103.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.099207 ms (missed cycles : 4). +103.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.099207 ms (missed cycles : 4).[0m ×2 +105.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822342 ms (missed cycles : 2). +105.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822342 ms (missed cycles : 2).[0m ×2 +106.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261529 ms (missed cycles : 2). +106.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261529 ms (missed cycles : 2).[0m ×2 +107.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577892 ms (missed cycles : 3). +107.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577892 ms (missed cycles : 3).[0m ×2 +108.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980738 ms (missed cycles : 3). +108.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980738 ms (missed cycles : 3).[0m ×2 +109.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921088 ms (missed cycles : 3). +109.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921088 ms (missed cycles : 3).[0m ×2 +110.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629584 ms (missed cycles : 4). +110.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629584 ms (missed cycles : 4).[0m ×2 +111.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138963 ms (missed cycles : 3). +111.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138963 ms (missed cycles : 3).[0m ×2 +112.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856583 ms (missed cycles : 3). +112.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856583 ms (missed cycles : 3).[0m ×2 +113.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075582 ms (missed cycles : 4). +113.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075582 ms (missed cycles : 4).[0m ×2 +114.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641746 ms (missed cycles : 2). +114.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641746 ms (missed cycles : 2).[0m ×2 +115.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961638 ms (missed cycles : 2). +115.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961638 ms (missed cycles : 2).[0m ×2 +116.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015400 ms (missed cycles : 4). +116.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015400 ms (missed cycles : 4).[0m ×2 +117.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434866 ms (missed cycles : 3). +117.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434866 ms (missed cycles : 3).[0m ×2 +118.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018005 ms (missed cycles : 4). +118.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018005 ms (missed cycles : 4).[0m ×2 +119.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161313 ms (missed cycles : 4). +119.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161313 ms (missed cycles : 4).[0m ×2 +120.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623594 ms (missed cycles : 2). +120.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623594 ms (missed cycles : 2).[0m ×2 +122.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710062 ms (missed cycles : 3). +122.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710062 ms (missed cycles : 3).[0m ×2 +123.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789987 ms (missed cycles : 3). +123.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789987 ms (missed cycles : 3).[0m ×2 +124.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827606 ms (missed cycles : 2). +124.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827606 ms (missed cycles : 2).[0m ×2 +125.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890023 ms (missed cycles : 3). +125.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890023 ms (missed cycles : 3).[0m ×2 +126.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915379 ms (missed cycles : 3). +126.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915379 ms (missed cycles : 3).[0m ×2 +127.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108646 ms (missed cycles : 3). +127.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108646 ms (missed cycles : 3).[0m ×2 +128.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396264 ms (missed cycles : 3). +128.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396264 ms (missed cycles : 3).[0m ×2 +129.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826685 ms (missed cycles : 2). +129.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826685 ms (missed cycles : 2).[0m ×2 +130.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617383 ms (missed cycles : 4). +130.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617383 ms (missed cycles : 4).[0m ×2 +131.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762219 ms (missed cycles : 2). +131.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762219 ms (missed cycles : 2).[0m ×2 +132.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176454 ms (missed cycles : 2). +132.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176454 ms (missed cycles : 2).[0m ×2 +133.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926501 ms (missed cycles : 3). +133.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926501 ms (missed cycles : 3).[0m ×2 +134.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412328 ms (missed cycles : 3). +134.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412328 ms (missed cycles : 3).[0m ×2 +135.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611838 ms (missed cycles : 3). +135.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611838 ms (missed cycles : 3).[0m ×2 +136.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819901 ms (missed cycles : 3). +136.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819901 ms (missed cycles : 3).[0m ×2 +137.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237976 ms (missed cycles : 2). +137.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237976 ms (missed cycles : 2).[0m ×2 +139.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420952 ms (missed cycles : 3). +139.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420952 ms (missed cycles : 3).[0m ×2 +140.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625054 ms (missed cycles : 4). +140.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625054 ms (missed cycles : 4).[0m ×2 +141.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259170 ms (missed cycles : 2). +141.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259170 ms (missed cycles : 2).[0m ×2 +142.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075569 ms (missed cycles : 2). +142.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075569 ms (missed cycles : 2).[0m ×2 +143.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370901 ms (missed cycles : 2). +143.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370901 ms (missed cycles : 2).[0m ×2 +144.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025167 ms (missed cycles : 2). +144.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025167 ms (missed cycles : 2).[0m ×2 +145.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680016 ms (missed cycles : 2). +145.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680016 ms (missed cycles : 2).[0m ×2 +146.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857388 ms (missed cycles : 3). +146.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857388 ms (missed cycles : 3).[0m ×2 +147.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849732 ms (missed cycles : 3). +147.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849732 ms (missed cycles : 3).[0m ×2 +148.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899262 ms (missed cycles : 3). +148.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899262 ms (missed cycles : 3).[0m ×2 +149.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091240 ms (missed cycles : 2). +149.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091240 ms (missed cycles : 2).[0m ×2 +150.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505650 ms (missed cycles : 2). +150.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505650 ms (missed cycles : 2).[0m ×2 +151.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189798 ms (missed cycles : 2). +151.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189798 ms (missed cycles : 2).[0m ×2 +152.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751887 ms (missed cycles : 2). +152.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751887 ms (missed cycles : 2).[0m ×2 +153.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549818 ms (missed cycles : 2). +153.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549818 ms (missed cycles : 2).[0m ×2 +154.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048060 ms (missed cycles : 3). +154.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048060 ms (missed cycles : 3).[0m ×2 +155.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855533 ms (missed cycles : 2). +155.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855533 ms (missed cycles : 2).[0m ×2 +157.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539715 ms (missed cycles : 3). +157.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539715 ms (missed cycles : 3).[0m ×2 +157.82sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +158.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402543 ms (missed cycles : 4). +158.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402543 ms (missed cycles : 4).[0m ×2 +159.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210301 ms (missed cycles : 3). +159.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210301 ms (missed cycles : 3).[0m ×2 +160.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159115 ms (missed cycles : 3). +160.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159115 ms (missed cycles : 3).[0m ×2 +161.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263691 ms (missed cycles : 3). +161.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263691 ms (missed cycles : 3).[0m ×2 +162.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486640 ms (missed cycles : 3). +162.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486640 ms (missed cycles : 3).[0m ×2 +163.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257447 ms (missed cycles : 2). +163.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257447 ms (missed cycles : 2).[0m ×2 +164.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480597 ms (missed cycles : 2). +164.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480597 ms (missed cycles : 2).[0m ×2 +165.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018766 ms (missed cycles : 3). +165.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018766 ms (missed cycles : 3).[0m ×2 +166.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591760 ms (missed cycles : 3). +166.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591760 ms (missed cycles : 3).[0m ×2 +167.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045678 ms (missed cycles : 3). +167.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045678 ms (missed cycles : 3).[0m ×2 +168.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582889 ms (missed cycles : 4). +168.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582889 ms (missed cycles : 4).[0m ×2 +169.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086850 ms (missed cycles : 3). +169.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086850 ms (missed cycles : 3).[0m ×2 +170.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275791 ms (missed cycles : 3). +170.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275791 ms (missed cycles : 3).[0m ×2 +171.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307424 ms (missed cycles : 4). +171.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307424 ms (missed cycles : 4).[0m ×2 +172.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588791 ms (missed cycles : 4). +172.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588791 ms (missed cycles : 4).[0m ×2 +173.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962491 ms (missed cycles : 3). +173.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962491 ms (missed cycles : 3).[0m ×2 +174.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886715 ms (missed cycles : 3). +174.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886715 ms (missed cycles : 3).[0m ×2 +176.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107988 ms (missed cycles : 4). +176.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107988 ms (missed cycles : 4).[0m ×2 +177.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491153 ms (missed cycles : 4). +177.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491153 ms (missed cycles : 4).[0m ×2 +178.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207111 ms (missed cycles : 2). +178.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207111 ms (missed cycles : 2).[0m ×2 +179.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370650 ms (missed cycles : 2). +179.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370650 ms (missed cycles : 2).[0m ×2 +180.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620095 ms (missed cycles : 4). +180.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620095 ms (missed cycles : 4).[0m ×2 +181.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527249 ms (missed cycles : 3). +181.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527249 ms (missed cycles : 3).[0m ×2 +182.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857643 ms (missed cycles : 4). +182.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857643 ms (missed cycles : 4).[0m ×2 +183.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249237 ms (missed cycles : 3). +183.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249237 ms (missed cycles : 3).[0m ×2 +184.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221787 ms (missed cycles : 4). +184.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221787 ms (missed cycles : 4).[0m ×2 +184.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.341ms +184.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.639ms +184.99sINFOobjective_server_nodeObjective preemption by a new Objective goal requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +185.00sINFOjoint_trajectory_controllerGot request to cancel goal +185.00sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. +185.00sINFOros2_control_nodeGot request to cancel goal[0m ×2 +185.00sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 +185.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.821ms +185.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled via preemption by a new Objective goal: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786122261.28100038 seconds ×3 +185.06sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786122261.33027101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +185.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812066 ms (missed cycles : 3). +185.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812066 ms (missed cycles : 3).[0m ×2 +185.52sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 +186.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114520 ms (missed cycles : 2). +186.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114520 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 74.0s | 3 errors · 241 warnings · 211 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.896ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.960ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042845 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042845 ms (missed cycles : 2).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.111ms + 1.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.134ms + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577586 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577586 ms (missed cycles : 3).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.288ms + 2.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.462ms + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080655 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080655 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.769ms + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.741ms + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091290 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091290 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_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 + 4.00sINFOjoint_trajectory_controllerGot request to cancel goal + 4.00sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.00sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.00sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 4776 particles 723 points - 5.969ms + 4.01sERRORobjective_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: 1786122271.48150826 seconds ×3 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.08sWARNlocal_costmap.local_costmapSensor origin at (-0.51, 3.26) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.08sWARNlocal_costmap.local_costmapSensor origin at (-1.40, 3.20) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.891ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.092ms + 4.56sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786122272.03671050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.996ms + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754996 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754996 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.688ms + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.160ms + 5.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.930ms + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185153 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185153 ms (missed cycles : 4).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.054ms + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.698ms + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.074ms + 6.90sINFOamclParticle filter update iteration stats: 3855 particles 723 points - 5.147ms + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572549 ms (missed cycles : 4). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572549 ms (missed cycles : 4).[0m ×2 + 7.20sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 7.26sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.26sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.26sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.26sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.30sINFOamclParticle filter update iteration stats: 3045 particles 723 points - 4.058ms + 7.69sINFOamclParticle filter update iteration stats: 2418 particles 723 points - 3.323ms + 7.99sINFOamclParticle filter update iteration stats: 2019 particles 723 points - 2.691ms + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857228 ms (missed cycles : 3). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857228 ms (missed cycles : 3).[0m ×2 + 8.29sINFOamclParticle filter update iteration stats: 1619 particles 723 points - 2.668ms + 8.59sINFOamclParticle filter update iteration stats: 1460 particles 723 points - 1.926ms + 8.89sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.969ms + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035514 ms (missed cycles : 4). + 9.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035514 ms (missed cycles : 4).[0m ×2 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846021 ms (missed cycles : 3). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846021 ms (missed cycles : 3).[0m ×2 + 10.99sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.288ms + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006937 ms (missed cycles : 3). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006937 ms (missed cycles : 3).[0m ×2 + 11.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 11.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912346 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912346 ms (missed cycles : 3).[0m ×2 + 12.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.086ms + 12.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932365 ms (missed cycles : 2). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932365 ms (missed cycles : 2).[0m ×2 + 13.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 13.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.068ms + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288945 ms (missed cycles : 3). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288945 ms (missed cycles : 3).[0m ×2 + 14.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.274ms + 14.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582067 ms (missed cycles : 4). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582067 ms (missed cycles : 4).[0m ×2 + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476139 ms (missed cycles : 3). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476139 ms (missed cycles : 3).[0m ×2 + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 17.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms ×3 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915124 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915124 ms (missed cycles : 2).[0m ×2 + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 18.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms ×2 + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570525 ms (missed cycles : 3). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570525 ms (missed cycles : 3).[0m ×2 + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 19.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720352 ms (missed cycles : 3). + 19.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720352 ms (missed cycles : 3).[0m ×2 + 19.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms ×2 + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.154ms + 20.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996465 ms (missed cycles : 3). + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996465 ms (missed cycles : 3).[0m ×2 + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.121ms + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 21.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.251286 ms (missed cycles : 6). + 21.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.251286 ms (missed cycles : 6).[0m ×2 + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 22.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847872 ms (missed cycles : 3). + 22.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847872 ms (missed cycles : 3).[0m ×2 + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 23.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434621 ms (missed cycles : 4). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434621 ms (missed cycles : 4).[0m ×2 + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.857ms + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 24.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853099 ms (missed cycles : 2). + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853099 ms (missed cycles : 2).[0m ×2 + 24.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033201 ms (missed cycles : 4). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033201 ms (missed cycles : 4).[0m ×2 + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 26.61sINFOros2_control_nodeMuJoCo sim: 0.94% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 27.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952512 ms (missed cycles : 3). + 27.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952512 ms (missed cycles : 3).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 28.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195791 ms (missed cycles : 2). + 28.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195791 ms (missed cycles : 2).[0m ×2 + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.736ms + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 29.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110136 ms (missed cycles : 4). + 29.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110136 ms (missed cycles : 4).[0m ×2 + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101595 ms (missed cycles : 4). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101595 ms (missed cycles : 4).[0m ×2 + 30.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 31.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784482 ms (missed cycles : 4). + 31.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784482 ms (missed cycles : 4).[0m ×2 + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 32.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700768 ms (missed cycles : 3). + 32.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700768 ms (missed cycles : 3).[0m ×2 + 32.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 33.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958024 ms (missed cycles : 4). + 33.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958024 ms (missed cycles : 4).[0m ×2 + 34.53sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.53sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407230 ms (missed cycles : 2). + 34.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407230 ms (missed cycles : 2).[0m ×2 + 34.83sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225867 ms (missed cycles : 2). + 35.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225867 ms (missed cycles : 2).[0m ×2 + 35.71sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 35.71sINFOobjective_server_nodePlanning for 39 path waypoints. ×3 + 36.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821722 ms (missed cycles : 3). + 36.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821722 ms (missed cycles : 3).[0m ×2 + 37.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661928 ms (missed cycles : 4). + 37.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661928 ms (missed cycles : 4).[0m ×2 + 38.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 38.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759372 ms (missed cycles : 3). + 38.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759372 ms (missed cycles : 3).[0m ×2 + 38.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 39.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 39.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322892 ms (missed cycles : 2). + 39.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322892 ms (missed cycles : 2).[0m ×2 + 40.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 40.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 40.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605388 ms (missed cycles : 3). + 40.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605388 ms (missed cycles : 3).[0m ×2 + 41.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966997 ms (missed cycles : 3). + 41.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966997 ms (missed cycles : 3).[0m ×2 + 43.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206036 ms (missed cycles : 3). + 43.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206036 ms (missed cycles : 3).[0m ×2 + 44.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810468 ms (missed cycles : 2). + 44.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810468 ms (missed cycles : 2).[0m ×2 + 45.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759453 ms (missed cycles : 3). + 45.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759453 ms (missed cycles : 3).[0m ×2 + 45.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 46.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555164 ms (missed cycles : 3). + 46.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555164 ms (missed cycles : 3).[0m ×2 + 46.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 47.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839365 ms (missed cycles : 3). + 47.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839365 ms (missed cycles : 3).[0m ×2 + 47.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 48.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152893 ms (missed cycles : 4). + 48.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152893 ms (missed cycles : 4).[0m ×2 + 48.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 49.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648086 ms (missed cycles : 2). + 49.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648086 ms (missed cycles : 2).[0m ×2 + 49.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 50.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 50.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269068 ms (missed cycles : 4). + 50.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269068 ms (missed cycles : 4).[0m ×2 + 51.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 51.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489422 ms (missed cycles : 3). + 51.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489422 ms (missed cycles : 3).[0m ×2 + 52.43sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 52.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877018 ms (missed cycles : 3). + 52.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877018 ms (missed cycles : 3).[0m ×2 + 53.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476472 ms (missed cycles : 3). + 53.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476472 ms (missed cycles : 3).[0m ×2 + 54.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.301ms + 54.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850611 ms (missed cycles : 3). + 54.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850611 ms (missed cycles : 3).[0m ×2 + 55.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851750 ms (missed cycles : 3). + 55.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851750 ms (missed cycles : 3).[0m ×2 + 56.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.230268 ms (missed cycles : 4). + 56.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.230268 ms (missed cycles : 4).[0m ×2 + 56.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 57.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287482 ms (missed cycles : 2). + 57.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287482 ms (missed cycles : 2).[0m ×2 + 57.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 58.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843824 ms (missed cycles : 3). + 58.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843824 ms (missed cycles : 3).[0m ×2 + 58.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 59.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 60.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269359 ms (missed cycles : 4). + 60.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269359 ms (missed cycles : 4).[0m ×2 + 60.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 61.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638471 ms (missed cycles : 3). + 61.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638471 ms (missed cycles : 3).[0m ×2 + 61.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 62.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693836 ms (missed cycles : 2). + 62.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693836 ms (missed cycles : 2).[0m ×2 + 62.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 63.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997218 ms (missed cycles : 2). + 63.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997218 ms (missed cycles : 2).[0m ×2 + 64.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838772 ms (missed cycles : 3). + 64.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838772 ms (missed cycles : 3).[0m ×2 + 64.87sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 65.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384708 ms (missed cycles : 3). + 65.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384708 ms (missed cycles : 3).[0m ×2 + 66.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874946 ms (missed cycles : 3). + 66.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874946 ms (missed cycles : 3).[0m ×2 + 67.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945849 ms (missed cycles : 3). + 67.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945849 ms (missed cycles : 3).[0m ×2 + 68.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934875 ms (missed cycles : 2). + 68.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934875 ms (missed cycles : 2).[0m ×2 + 69.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 69.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788383 ms (missed cycles : 2). + 69.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788383 ms (missed cycles : 2).[0m ×2 + 70.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617391 ms (missed cycles : 4). + 70.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617391 ms (missed cycles : 4).[0m ×2 + 70.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 71.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 71.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070649 ms (missed cycles : 4). + 71.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070649 ms (missed cycles : 4).[0m ×2 + 73.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664431 ms (missed cycles : 4). + 73.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664431 ms (missed cycles : 4).[0m ×2 + 73.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 74.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961833 ms (missed cycles : 3). + 74.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961833 ms (missed cycles : 3).[0m ×2 + 74.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 75.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764626 ms (missed cycles : 3). + 75.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764626 ms (missed cycles : 3).[0m ×2 + 75.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.261ms + 76.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137966 ms (missed cycles : 3). + 76.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137966 ms (missed cycles : 3).[0m ×2 + 76.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 77.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202146 ms (missed cycles : 2). + 77.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202146 ms (missed cycles : 2).[0m ×2 + 77.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 78.03sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786122345.50686502 seconds ×3 + 78.08sWARNlocal_costmap.local_costmapSensor origin at (-2.30, 13.81) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 78.08sWARNlocal_costmap.local_costmapSensor origin at (-3.10, 13.39) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 78.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.935ms + 78.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712053 ms (missed cycles : 3). + 78.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712053 ms (missed cycles : 3).[0m ×2 + 78.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.574ms + 78.59sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786122346.06886554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 78.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.030ms + 79.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.869ms + 79.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2). + 79.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2).[0m ×2 + 80.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.793ms + 80.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3). + 80.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.6s | 188 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075618 ms (missed cycles : 2). + 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075618 ms (missed cycles : 2).[0m ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786121981.39837766 seconds ×3 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786121981.95680761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992047 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992047 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeFound path in 0 iterations (2.5488e-05 s). ×2 + 1.72sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.75sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.75sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.75sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.75sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917835 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917835 ms (missed cycles : 2).[0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190005 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190005 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786121985.20693660 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786121985.76871014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725996 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725996 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494740 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494740 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859636 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859636 ms (missed cycles : 2).[0m ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213939 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213939 ms (missed cycles : 2).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994176 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994176 ms (missed cycles : 2).[0m ×2 + 9.02sINFOamclParticle filter update iteration stats: 1798 particles 723 points - 2.225ms + 9.62sINFOamclParticle filter update iteration stats: 1460 particles 723 points - 2.034ms + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898597 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898597 ms (missed cycles : 2).[0m ×2 + 10.11sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 1.989ms + 10.62sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.366ms + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505943 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505943 ms (missed cycles : 3).[0m ×2 + 11.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.208ms + 11.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210205 ms (missed cycles : 3). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210205 ms (missed cycles : 3).[0m ×2 + 12.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 12.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 12.72sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785766 ms (missed cycles : 3). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785766 ms (missed cycles : 3).[0m ×2 + 13.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 13.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654044 ms (missed cycles : 3). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654044 ms (missed cycles : 3).[0m ×2 + 14.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.117ms + 14.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 15.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839872 ms (missed cycles : 3). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839872 ms (missed cycles : 3).[0m ×2 + 15.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 16.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms ×2 + 16.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108088 ms (missed cycles : 4). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108088 ms (missed cycles : 4).[0m ×2 + 17.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 17.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098099 ms (missed cycles : 5). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.098099 ms (missed cycles : 5).[0m ×2 + 18.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms + 18.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555445 ms (missed cycles : 3). + 18.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555445 ms (missed cycles : 3).[0m ×2 + 19.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 19.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 20.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429841 ms (missed cycles : 3). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429841 ms (missed cycles : 3).[0m ×2 + 20.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 20.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 21.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 21.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262498 ms (missed cycles : 4). + 21.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262498 ms (missed cycles : 4).[0m ×2 + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 22.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 22.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230984 ms (missed cycles : 2). + 22.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230984 ms (missed cycles : 2).[0m ×2 + 22.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 23.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms ×2 + 23.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743045 ms (missed cycles : 2). + 23.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743045 ms (missed cycles : 2).[0m ×2 + 23.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 24.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 24.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170628 ms (missed cycles : 2). + 24.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170628 ms (missed cycles : 2).[0m ×2 + 24.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.757ms + 25.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 25.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007833 ms (missed cycles : 4). + 25.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007833 ms (missed cycles : 4).[0m ×2 + 25.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms + 26.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 26.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276374 ms (missed cycles : 4). + 26.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276374 ms (missed cycles : 4).[0m ×2 + 26.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 27.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms ×2 + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698878 ms (missed cycles : 3). + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698878 ms (missed cycles : 3).[0m ×2 + 27.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.279ms + 28.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 28.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653064 ms (missed cycles : 4). + 28.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653064 ms (missed cycles : 4).[0m ×2 + 28.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.157ms + 29.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197846 ms (missed cycles : 3). + 29.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197846 ms (missed cycles : 3).[0m ×2 + 29.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms ×2 + 30.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 30.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160597 ms (missed cycles : 3). + 30.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160597 ms (missed cycles : 3).[0m ×2 + 30.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 31.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 31.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531096 ms (missed cycles : 2). + 31.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531096 ms (missed cycles : 2).[0m ×2 + 32.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 32.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 32.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081586 ms (missed cycles : 2). + 32.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081586 ms (missed cycles : 2).[0m ×2 + 33.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.318ms + 33.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms ×3 + 33.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.272615 ms (missed cycles : 4). + 33.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.272615 ms (missed cycles : 4).[0m ×2 + 34.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 34.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502584 ms (missed cycles : 2). + 34.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502584 ms (missed cycles : 2).[0m ×2 + 35.74sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.74sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073954 ms (missed cycles : 4). + 35.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073954 ms (missed cycles : 4).[0m ×2 + 36.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466138 ms (missed cycles : 4). + 36.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466138 ms (missed cycles : 4).[0m ×2 + 37.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135079 ms (missed cycles : 3). + 37.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135079 ms (missed cycles : 3).[0m ×2 + 38.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534666 ms (missed cycles : 3). + 38.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534666 ms (missed cycles : 3).[0m ×2 + 39.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480479 ms (missed cycles : 4). + 39.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480479 ms (missed cycles : 4).[0m ×2 + 40.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 41.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619563 ms (missed cycles : 4). + 41.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619563 ms (missed cycles : 4).[0m ×2 + 42.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736109 ms (missed cycles : 3). + 42.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736109 ms (missed cycles : 3).[0m ×2 + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890008 ms (missed cycles : 3). + 43.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890008 ms (missed cycles : 3).[0m ×2 + 44.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428912 ms (missed cycles : 2). + 44.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428912 ms (missed cycles : 2).[0m ×2 + 45.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785068 ms (missed cycles : 5). + 45.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785068 ms (missed cycles : 5).[0m ×2 + 46.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298536 ms (missed cycles : 4). + 46.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298536 ms (missed cycles : 4).[0m ×2 + 47.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677927 ms (missed cycles : 2). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677927 ms (missed cycles : 2).[0m ×2 + 48.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547308 ms (missed cycles : 4). + 48.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547308 ms (missed cycles : 4).[0m ×2 + 49.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 49.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751743 ms (missed cycles : 3). + 49.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751743 ms (missed cycles : 3).[0m ×2 + 50.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054122 ms (missed cycles : 4). + 50.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054122 ms (missed cycles : 4).[0m ×2 + 51.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992610 ms (missed cycles : 4). + 51.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992610 ms (missed cycles : 4).[0m ×2 + 52.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.741ms + 52.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552093 ms (missed cycles : 2). + 52.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552093 ms (missed cycles : 2).[0m ×2 + 53.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190209 ms (missed cycles : 4). + 53.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190209 ms (missed cycles : 4).[0m ×2 + 54.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975536 ms (missed cycles : 4). + 54.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975536 ms (missed cycles : 4).[0m ×2 + 55.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720060 ms (missed cycles : 3). + 55.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720060 ms (missed cycles : 3).[0m ×2 + 56.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 56.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293064 ms (missed cycles : 5). + 56.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293064 ms (missed cycles : 5).[0m ×2 + 57.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838470 ms (missed cycles : 5). + 57.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838470 ms (missed cycles : 5).[0m ×2 + 58.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238387 ms (missed cycles : 4). + 58.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238387 ms (missed cycles : 4).[0m ×2 + 59.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118160 ms (missed cycles : 3). + 59.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118160 ms (missed cycles : 3).[0m ×2 + 60.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 61.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099228 ms (missed cycles : 4). + 61.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099228 ms (missed cycles : 4).[0m ×2 + 61.44sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786122042.78883290 seconds ×3 + 61.50sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 61.50sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 61.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.164ms + 61.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 62.01sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786122043.35627389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692017 ms (missed cycles : 3). + 62.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692017 ms (missed cycles : 3).[0m ×2 + 62.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.062ms + 62.39sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 62.42sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.950ms + 63.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180264 ms (missed cycles : 2). + 63.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180264 ms (missed cycles : 2).[0m ×2 + 63.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.926ms + 64.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216740 ms (missed cycles : 2). + 64.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216740 ms (missed cycles : 2).[0m ×2 + 64.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.1s | 185 warnings · 146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.869ms + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.793ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.937ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491281 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491281 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973867 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973867 ms (missed cycles : 2).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.82sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786122350.43012953 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766818 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766818 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786122350.99992704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166403 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166403 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295479 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295479 ms (missed cycles : 2).[0m ×2 + 6.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.52sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744557 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744557 ms (missed cycles : 3).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836269 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836269 ms (missed cycles : 2).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.400ms + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.361ms + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967167 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967167 ms (missed cycles : 3).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.283ms + 10.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.340ms + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117683 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117683 ms (missed cycles : 2).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.737ms + 11.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.496ms + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105267 ms (missed cycles : 3). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105267 ms (missed cycles : 3).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.398ms + 12.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.369ms + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503163 ms (missed cycles : 3). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503163 ms (missed cycles : 3).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.087ms + 13.70sINFOamclParticle filter update iteration stats: 4921 particles 723 points - 6.181ms + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110895 ms (missed cycles : 3). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110895 ms (missed cycles : 3).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 4931 particles 723 points - 6.119ms + 14.70sINFOamclParticle filter update iteration stats: 4580 particles 723 points - 6.009ms + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620940 ms (missed cycles : 3). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620940 ms (missed cycles : 3).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 4373 particles 723 points - 5.322ms + 15.70sINFOamclParticle filter update iteration stats: 4125 particles 723 points - 5.616ms + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081584 ms (missed cycles : 3). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081584 ms (missed cycles : 3).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 4239 particles 723 points - 6.840ms + 16.70sINFOamclParticle filter update iteration stats: 3845 particles 723 points - 4.939ms + 17.20sINFOamclParticle filter update iteration stats: 3814 particles 723 points - 5.359ms + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056912 ms (missed cycles : 2). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056912 ms (missed cycles : 2).[0m ×2 + 17.70sINFOamclParticle filter update iteration stats: 3835 particles 723 points - 5.759ms + 18.20sINFOamclParticle filter update iteration stats: 3762 particles 723 points - 4.574ms + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272992 ms (missed cycles : 3). + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272992 ms (missed cycles : 3).[0m ×2 + 18.70sINFOamclParticle filter update iteration stats: 3855 particles 723 points - 6.482ms + 19.20sINFOamclParticle filter update iteration stats: 3949 particles 723 points - 5.048ms + 19.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569336 ms (missed cycles : 4). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569336 ms (missed cycles : 4).[0m ×2 + 19.70sINFOamclParticle filter update iteration stats: 3804 particles 723 points - 5.091ms + 20.20sINFOamclParticle filter update iteration stats: 4042 particles 723 points - 7.398ms + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996178 ms (missed cycles : 2). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996178 ms (missed cycles : 2).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 3938 particles 723 points - 5.067ms + 21.20sINFOamclParticle filter update iteration stats: 3752 particles 723 points - 6.670ms + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003137 ms (missed cycles : 4). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003137 ms (missed cycles : 4).[0m ×2 + 21.70sINFOamclParticle filter update iteration stats: 3430 particles 723 points - 4.642ms + 22.20sINFOamclParticle filter update iteration stats: 3211 particles 723 points - 4.042ms + 22.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148855 ms (missed cycles : 3). + 22.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148855 ms (missed cycles : 3).[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 2847 particles 723 points - 3.540ms + 23.30sINFOamclParticle filter update iteration stats: 2669 particles 723 points - 4.624ms + 23.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427968 ms (missed cycles : 3). + 23.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427968 ms (missed cycles : 3).[0m ×2 + 23.80sINFOamclParticle filter update iteration stats: 2418 particles 723 points - 3.264ms + 24.29sINFOamclParticle filter update iteration stats: 2019 particles 723 points - 3.298ms + 24.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018259 ms (missed cycles : 3). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018259 ms (missed cycles : 3).[0m ×2 + 24.79sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.180ms + 25.30sINFOamclParticle filter update iteration stats: 1682 particles 723 points - 2.147ms + 25.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595745 ms (missed cycles : 3). + 25.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595745 ms (missed cycles : 3).[0m ×2 + 25.79sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 2.589ms + 26.29sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 1.928ms + 26.79sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 1.674ms + 26.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860668 ms (missed cycles : 2). + 26.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860668 ms (missed cycles : 2).[0m ×2 + 27.29sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 1.793ms + 27.79sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 1.342ms + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981876 ms (missed cycles : 3). + 27.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981876 ms (missed cycles : 3).[0m ×2 + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941675 ms (missed cycles : 3). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941675 ms (missed cycles : 3).[0m ×2 + 29.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 29.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081790 ms (missed cycles : 4). + 29.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081790 ms (missed cycles : 4).[0m ×2 + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556595 ms (missed cycles : 4). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556595 ms (missed cycles : 4).[0m ×2 + 31.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 32.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938298 ms (missed cycles : 4). + 32.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938298 ms (missed cycles : 4).[0m ×2 + 32.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 33.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449161 ms (missed cycles : 3). + 33.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449161 ms (missed cycles : 3).[0m ×2 + 33.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.072ms + 33.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 34.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585258 ms (missed cycles : 4). + 34.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585258 ms (missed cycles : 4).[0m ×2 + 35.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853706 ms (missed cycles : 2). + 35.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853706 ms (missed cycles : 2).[0m ×2 + 35.42sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.42sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124649 ms (missed cycles : 4). + 36.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124649 ms (missed cycles : 4).[0m ×2 + 36.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 37.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164628 ms (missed cycles : 3). + 37.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164628 ms (missed cycles : 3).[0m ×2 + 38.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781577 ms (missed cycles : 3). + 38.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781577 ms (missed cycles : 3).[0m ×2 + 39.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802500 ms (missed cycles : 3). + 39.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802500 ms (missed cycles : 3).[0m ×2 + 40.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.153ms + 40.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132269 ms (missed cycles : 2). + 40.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132269 ms (missed cycles : 2).[0m ×2 + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753187 ms (missed cycles : 2). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753187 ms (missed cycles : 2).[0m ×2 + 42.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 42.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622896 ms (missed cycles : 4). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622896 ms (missed cycles : 4).[0m ×2 + 43.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065858 ms (missed cycles : 3). + 43.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065858 ms (missed cycles : 3).[0m ×2 + 45.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092366 ms (missed cycles : 2). + 45.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092366 ms (missed cycles : 2).[0m ×2 + 45.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 46.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736604 ms (missed cycles : 3). + 46.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736604 ms (missed cycles : 3).[0m ×2 + 47.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914965 ms (missed cycles : 5). + 47.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914965 ms (missed cycles : 5).[0m ×2 + 48.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373321 ms (missed cycles : 2). + 48.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373321 ms (missed cycles : 2).[0m ×2 + 48.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 49.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.042140 ms (missed cycles : 5). + 49.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.042140 ms (missed cycles : 5).[0m ×2 + 50.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480839 ms (missed cycles : 2). + 50.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480839 ms (missed cycles : 2).[0m ×2 + 51.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034074 ms (missed cycles : 2). + 51.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034074 ms (missed cycles : 2).[0m ×2 + 52.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 52.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453315 ms (missed cycles : 4). + 52.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453315 ms (missed cycles : 4).[0m ×2 + 53.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124597 ms (missed cycles : 3). + 53.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124597 ms (missed cycles : 3).[0m ×2 + 54.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148084 ms (missed cycles : 3). + 54.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148084 ms (missed cycles : 3).[0m ×2 + 55.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044241 ms (missed cycles : 2). + 55.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044241 ms (missed cycles : 2).[0m ×2 + 56.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 56.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498425 ms (missed cycles : 4). + 56.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498425 ms (missed cycles : 4).[0m ×2 + 57.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824548 ms (missed cycles : 2). + 57.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824548 ms (missed cycles : 2).[0m ×2 + 58.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936253 ms (missed cycles : 3). + 58.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936253 ms (missed cycles : 3).[0m ×2 + 60.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086972 ms (missed cycles : 3). + 60.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086972 ms (missed cycles : 3).[0m ×2 + 60.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 61.01sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786122407.59008026 seconds ×3 + 61.08sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 61.08sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 61.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843819 ms (missed cycles : 2). + 61.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843819 ms (missed cycles : 2).[0m ×2 + 61.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.912ms + 61.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.182ms + 61.58sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786122408.15810156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.023ms + 61.95sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 61.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.307ms + 62.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833653 ms (missed cycles : 3). + 62.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833653 ms (missed cycles : 3).[0m ×2 + 62.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.282ms + 63.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664045 ms (missed cycles : 3). + 63.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664045 ms (missed cycles : 3).[0m ×2 + 63.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.187ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 144 warnings · 142 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.82sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.82sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024014 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024014 ms (missed cycles : 2).[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246359 ms (missed cycles : 2). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246359 ms (missed cycles : 2).[0m ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400898 ms (missed cycles : 3). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400898 ms (missed cycles : 3).[0m ×2 + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465777 ms (missed cycles : 3). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465777 ms (missed cycles : 3).[0m ×2 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738742 ms (missed cycles : 3). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738742 ms (missed cycles : 3).[0m ×2 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901994 ms (missed cycles : 2). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901994 ms (missed cycles : 2).[0m ×2 + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681138 ms (missed cycles : 2). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681138 ms (missed cycles : 2).[0m ×2 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110440 ms (missed cycles : 3). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110440 ms (missed cycles : 3).[0m ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411828 ms (missed cycles : 3). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411828 ms (missed cycles : 3).[0m ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826785 ms (missed cycles : 2). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826785 ms (missed cycles : 2).[0m ×2 + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808024 ms (missed cycles : 2). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808024 ms (missed cycles : 2).[0m ×2 + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959948 ms (missed cycles : 3). + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959948 ms (missed cycles : 3).[0m ×2 + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388976 ms (missed cycles : 3). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388976 ms (missed cycles : 3).[0m ×2 + 20.40sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 3.029ms + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801660 ms (missed cycles : 3). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801660 ms (missed cycles : 3).[0m ×2 + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910155 ms (missed cycles : 2). + 21.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910155 ms (missed cycles : 2).[0m ×2 + 22.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913389 ms (missed cycles : 3). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913389 ms (missed cycles : 3).[0m ×2 + 23.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375068 ms (missed cycles : 3). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375068 ms (missed cycles : 3).[0m ×2 + 24.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876205 ms (missed cycles : 2). + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876205 ms (missed cycles : 2).[0m ×2 + 26.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082966 ms (missed cycles : 3). + 26.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082966 ms (missed cycles : 3).[0m ×2 + 27.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021847 ms (missed cycles : 3). + 27.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021847 ms (missed cycles : 3).[0m ×2 + 28.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621113 ms (missed cycles : 3). + 28.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621113 ms (missed cycles : 3).[0m ×2 + 29.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559723 ms (missed cycles : 3). + 29.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559723 ms (missed cycles : 3).[0m ×2 + 30.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771914 ms (missed cycles : 3). + 30.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771914 ms (missed cycles : 3).[0m ×2 + 31.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193379 ms (missed cycles : 2). + 31.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193379 ms (missed cycles : 2).[0m ×2 + 32.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464028 ms (missed cycles : 3). + 32.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464028 ms (missed cycles : 3).[0m ×2 + 33.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833007 ms (missed cycles : 2). + 33.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833007 ms (missed cycles : 2).[0m ×2 + 34.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066515 ms (missed cycles : 2). + 34.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066515 ms (missed cycles : 2).[0m ×2 + 35.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316906 ms (missed cycles : 3). + 35.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316906 ms (missed cycles : 3).[0m ×2 + 36.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548140 ms (missed cycles : 3). + 36.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548140 ms (missed cycles : 3).[0m ×2 + 37.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738782 ms (missed cycles : 2). + 37.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738782 ms (missed cycles : 2).[0m ×2 + 38.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446842 ms (missed cycles : 2). + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446842 ms (missed cycles : 2).[0m ×2 + 39.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853341 ms (missed cycles : 3). + 39.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853341 ms (missed cycles : 3).[0m ×2 + 41.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842455 ms (missed cycles : 3). + 41.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842455 ms (missed cycles : 3).[0m ×2 + 42.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154169 ms (missed cycles : 2). + 42.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154169 ms (missed cycles : 2).[0m ×2 + 43.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717467 ms (missed cycles : 2). + 43.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717467 ms (missed cycles : 2).[0m ×2 + 44.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365111 ms (missed cycles : 3). + 44.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365111 ms (missed cycles : 3).[0m ×2 + 45.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334188 ms (missed cycles : 2). + 45.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334188 ms (missed cycles : 2).[0m ×2 + 46.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667082 ms (missed cycles : 3). + 46.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667082 ms (missed cycles : 3).[0m ×2 + 47.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075618 ms (missed cycles : 2). + 47.28sINFOjoint_trajectory_controllerGoal reached, success! + 47.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075618 ms (missed cycles : 2).[0m ×2 + 47.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786121981.39837766 seconds ×3 + 47.89sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786121981.95680761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992047 ms (missed cycles : 2). + 48.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992047 ms (missed cycles : 2).[0m ×2 + 49.00sINFOobjective_server_nodeFound path in 0 iterations (2.5488e-05 s). ×2 + 49.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917835 ms (missed cycles : 2). + 49.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917835 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.6s | 110 warnings · 124 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.926ms + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216740 ms (missed cycles : 2). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216740 ms (missed cycles : 2).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545934 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545934 ms (missed cycles : 3).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.960ms + 2.79sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.79sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.81sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786122047.48646832 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753970 ms (missed cycles : 3). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753970 ms (missed cycles : 3).[0m ×2 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354531 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354531 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786122049.04772997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968902 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968902 ms (missed cycles : 2).[0m ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759165 ms (missed cycles : 3). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759165 ms (missed cycles : 3).[0m ×2 + 6.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.01sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.01sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.01sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.01sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416259 ms (missed cycles : 3). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416259 ms (missed cycles : 3).[0m ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183591 ms (missed cycles : 2). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183591 ms (missed cycles : 2).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.997ms + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523614 ms (missed cycles : 3). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523614 ms (missed cycles : 3).[0m ×2 + 9.40sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.193ms + 10.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.208ms + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938737 ms (missed cycles : 3). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938737 ms (missed cycles : 3).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.688ms + 11.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.765ms + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785519 ms (missed cycles : 3). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785519 ms (missed cycles : 3).[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.670ms + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.326ms + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581366 ms (missed cycles : 3). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581366 ms (missed cycles : 3).[0m ×2 + 12.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.873ms + 13.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.148ms + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849809 ms (missed cycles : 3). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849809 ms (missed cycles : 3).[0m ×2 + 13.60sINFOamclParticle filter update iteration stats: 4704 particles 723 points - 8.576ms + 14.10sINFOamclParticle filter update iteration stats: 4228 particles 723 points - 7.139ms + 14.60sINFOamclParticle filter update iteration stats: 3721 particles 723 points - 5.044ms + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427087 ms (missed cycles : 3). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427087 ms (missed cycles : 3).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 3295 particles 723 points - 4.208ms + 15.59sINFOamclParticle filter update iteration stats: 3201 particles 723 points - 3.939ms + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385986 ms (missed cycles : 2). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385986 ms (missed cycles : 2).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 3305 particles 723 points - 4.285ms + 16.60sINFOamclParticle filter update iteration stats: 3367 particles 723 points - 6.119ms + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041784 ms (missed cycles : 2). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041784 ms (missed cycles : 2).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 2951 particles 723 points - 3.850ms + 17.59sINFOamclParticle filter update iteration stats: 2868 particles 723 points - 3.685ms + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132593 ms (missed cycles : 2). + 17.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132593 ms (missed cycles : 2).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 2512 particles 723 points - 3.344ms + 18.59sINFOamclParticle filter update iteration stats: 2292 particles 723 points - 2.957ms + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640711 ms (missed cycles : 3). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640711 ms (missed cycles : 3).[0m ×2 + 19.09sINFOamclParticle filter update iteration stats: 2040 particles 723 points - 3.095ms + 19.58sINFOamclParticle filter update iteration stats: 1756 particles 723 points - 2.780ms + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949640 ms (missed cycles : 3). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949640 ms (missed cycles : 3).[0m ×2 + 20.09sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 2.007ms + 20.59sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 1.622ms + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976551 ms (missed cycles : 2). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976551 ms (missed cycles : 2).[0m ×2 + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.312ms + 21.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732504 ms (missed cycles : 3). + 21.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732504 ms (missed cycles : 3).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 23.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908191 ms (missed cycles : 2). + 23.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908191 ms (missed cycles : 2).[0m ×2 + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms + 24.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945612 ms (missed cycles : 3). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945612 ms (missed cycles : 3).[0m ×2 + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 25.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734534 ms (missed cycles : 2). + 25.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734534 ms (missed cycles : 2).[0m ×2 + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816866 ms (missed cycles : 3). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816866 ms (missed cycles : 3).[0m ×2 + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 27.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743672 ms (missed cycles : 3). + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743672 ms (missed cycles : 3).[0m ×2 + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 28.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852740 ms (missed cycles : 5). + 28.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852740 ms (missed cycles : 5).[0m ×2 + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 29.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736882 ms (missed cycles : 3). + 29.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736882 ms (missed cycles : 3).[0m ×2 + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 30.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096450 ms (missed cycles : 2). + 30.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096450 ms (missed cycles : 2).[0m ×2 + 31.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 31.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783594 ms (missed cycles : 3). + 31.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783594 ms (missed cycles : 3).[0m ×2 + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 32.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 32.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627784 ms (missed cycles : 4). + 32.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627784 ms (missed cycles : 4).[0m ×2 + 33.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 33.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 33.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053490 ms (missed cycles : 2). + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053490 ms (missed cycles : 2).[0m ×2 + 34.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 34.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465283 ms (missed cycles : 4). + 34.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465283 ms (missed cycles : 4).[0m ×2 + 35.42sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786122080.09786248 seconds ×3 + 35.48sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 35.48sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.84) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 35.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.832ms + 35.99sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786122080.66273856 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.127ms + 36.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184320 ms (missed cycles : 2). + 36.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184320 ms (missed cycles : 2).[0m ×2 + 36.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.132ms + 36.42sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 36.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.470ms + 36.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.504ms + 37.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004881 ms (missed cycles : 3). + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004881 ms (missed cycles : 3).[0m ×2 + 37.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.287ms + 37.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.003ms + 37.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.831ms + 38.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.560ms + 38.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969479 ms (missed cycles : 3). + 38.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969479 ms (missed cycles : 3).[0m ×2 + 38.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 38.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.486ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.8s | 59 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824548 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824548 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936253 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936253 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086972 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086972 ms (missed cycles : 3).[0m ×2 + 2.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 3.05sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.05sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786122407.59008026 seconds ×3 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843819 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843819 ms (missed cycles : 2).[0m ×2 + 3.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.912ms + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.182ms + 3.65sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786122408.15810156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.023ms + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.07sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.07sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.307ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833653 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833653 ms (missed cycles : 3).[0m ×2 + 4.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.282ms + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664045 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664045 ms (missed cycles : 3).[0m ×2 + 5.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.187ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257352 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257352 ms (missed cycles : 2).[0m ×2 + 6.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.915ms + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138767 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138767 ms (missed cycles : 3).[0m ×2 + 8.37sINFOobjective_server_nodeFound path in 0 iterations (1.09e-06 s). ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.45sINFOobjective_server_nodeFound path in 0 iterations (1.905e-06 s). ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226345 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226345 ms (missed cycles : 3).[0m ×2 + 8.51sINFOobjective_server_nodePath shortcutter: [X_____________________X] ×2 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 8.62sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.68sINFOobjective_server_nodeFound path in 0 iterations (1.868e-06 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 8.95sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 9.16sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×2 + 9.24sINFOobjective_server_nodeFound path in 29 iterations (0.0361637 s). ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698901 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698901 ms (missed cycles : 2).[0m ×2 + 9.55sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X_____X] ×2 + 9.59sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.63sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 10.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.16sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040324 ms (missed cycles : 3). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040324 ms (missed cycles : 3).[0m ×2 + 10.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.86sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631490 ms (missed cycles : 3). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631490 ms (missed cycles : 3).[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742100 ms (missed cycles : 3). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742100 ms (missed cycles : 3).[0m ×2 + 12.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.414ms + 13.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.207ms ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041253 ms (missed cycles : 3). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041253 ms (missed cycles : 3).[0m ×2 + 13.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.759ms + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279324 ms (missed cycles : 2). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279324 ms (missed cycles : 2).[0m ×2 + 14.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.941ms + 15.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.185ms + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596533 ms (missed cycles : 3). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596533 ms (missed cycles : 3).[0m ×2 + 16.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786122421.37036991 seconds ×3 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072787 ms (missed cycles : 2). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072787 ms (missed cycles : 2).[0m ×2 + 17.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.442ms + 17.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.968ms + 17.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786122421.96380401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.46sINFOmove_groupClearing octomap...[0m ×2 + 17.46sINFOmove_groupOctomap cleared.[0m ×2 + 17.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.958ms + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274963 ms (missed cycles : 3). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274963 ms (missed cycles : 3).[0m ×2 + 17.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.012ms + 18.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786122422.66393232 seconds ×3 + 18.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.506ms + 18.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.341ms + 18.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786122423.21843624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046512 ms (missed cycles : 3). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046512 ms (missed cycles : 3).[0m ×2 + 18.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.081ms + 19.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.826ms + 19.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786122423.78857303 seconds ×3 + 19.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.742ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.9s | 94 errors · 33 warnings · 397 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279324 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279324 ms (missed cycles : 2).[0m ×2 + 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.941ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.185ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596533 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596533 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.207ms + 2.27sINFOjoint_trajectory_controllerGoal reached, success! + 2.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.30sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786122421.37036991 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072787 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072787 ms (missed cycles : 2).[0m ×2 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.442ms + 2.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.968ms + 2.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786122421.96380401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.958ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274963 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274963 ms (missed cycles : 3).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.012ms + 3.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786122422.66393232 seconds ×3 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.506ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.341ms + 4.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786122423.21843624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046512 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046512 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.081ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.826ms + 4.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786122423.78857303 seconds ×3 + 4.95sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.742ms + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187385 ms (missed cycles : 2). + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.907ms + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187385 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739542 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739542 ms (missed cycles : 2).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689158 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689158 ms (missed cycles : 2).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626411 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626411 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813382 ms (missed cycles : 3). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813382 ms (missed cycles : 3).[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898509 ms (missed cycles : 3). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898509 ms (missed cycles : 3).[0m ×2 + 10.94sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 10.98sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORweb_video_auth_proxy-35process has died [pid 10695, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.99sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.02sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORweb_bridge_auth_proxy-34process has died [pid 10694, 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 + 11.02sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.13sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.17sINFOvideo_server-33process has finished cleanly [pid 10693] ×2 + 11.17sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.21sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.24sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.28sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.31sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.32sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.36sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.40sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.43sINFOtf2_web_republisher_node-32process has finished cleanly [pid 10692] ×2 + 11.44sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.47sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.51sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.55sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.58sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1786122430.345 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.58sINFOui_teleop_bridge-30process has finished cleanly [pid 10690] ×2 + 11.60sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.60sINFOcontroller_managerShutdown request received.... + 11.60sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.60sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.60sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.60sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.60sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.60sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.60sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.60sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.60sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.60sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.60sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.60sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.60sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.61sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.61sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.61sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.61sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.61sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.61sINFOcontroller_managerShutting down the controller manager. + 11.61sINFOcomponent_container_mt-28process has finished cleanly [pid 10688] ×2 + 11.62sINFOexecute_objective_bridge-29process has finished cleanly [pid 10689] ×2 + 11.64sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.64sERRORmove_group-21process has died [pid 10660, 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_52893nd2 --params-file /tmp/launch_params_7aecqpuk --params-file /tmp/launch_params_kfpqof4a --params-file /tmp/launch_params_wrc52yyr --params-file /tmp/launch_params_v9c6tgyl --params-file /tmp/launch_params_2pn8vhhi']. ×2 + 11.66sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.68sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.71sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.73sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.76sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.78sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.78sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.78sINFOmap_serverDeactivating + 11.78sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.79sINFOmap_serverCleaning up + 11.79sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.79sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.80sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.80sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.80sINFOcontroller_serverDeactivating + 11.81sINFOlocal_costmap.local_costmapDeactivating + 11.81sINFOobjective_server_node_main-26process has finished cleanly [pid 10685] ×2 + 11.81sINFOvideo_server2026/08/07 17:07:10 INF shutting down gracefully ×2 + 11.81sINFOvideo_server2026/08/07 17:07:10 INF [WebRTC] closing ×2 + 11.81sINFOvideo_server2026/08/07 17:07:10 INF [RTSP] closing ×2 + 11.81sINFOvideo_server2026/08/07 17:07:10 INF waiting for running hooks ×2 + 11.81sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.81sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.81sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.81sERRORamclThe bond connection to the lifecycle manager has been broken + 11.81sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.81sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.82sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.82sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.82sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.82sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.82sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.82sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.82sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.82sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.82sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.82sERRORmove_groupStack trace (most recent call last) in thread 11292: ×2 + 11.82sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.82sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f01f5e9ea63, in __clone ×2 + 11.82sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f01f5e11aa3, in ×2 + 11.82sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f01f60a3db3, in ×2 + 11.82sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f01f680fed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.82sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f01f6435620, in rclcpp::Rate::sleep() ×2 + 11.82sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f01f6377d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.82sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f01f6339087, in ×2 + 11.82sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f01f6072390, in __cxa_throw ×2 + 11.82sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f01f605ca54, in std::terminate() ×2 + 11.82sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f01f60720d9, in ×2 + 11.82sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f01f605cff4, in ×2 + 11.82sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f01f5d9d8fe, in abort ×2 + 11.82sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f01f5dba27d, in raise ×2 + 11.82sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f01f5e13b2c, in pthread_kill ×2 + 11.82sERRORmove_groupAborted (Signal sent by tkill() 10660 0) ×2 + 11.83sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.83sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.83sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.83sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.83sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.83sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.83sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.83sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.83sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.83sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.83sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.83sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.83sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.83sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.83sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.83sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.83sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.83sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.83sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.83sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.83sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.83sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.83sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.83sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.83sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.83sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.83sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.83sINFOobjective_server_node[2026-08-07 17:07:10.770] [moveit_pro_license] [info] ×2 + 11.83sINFOobjective_server_node************************************************* ×4 + 11.83sINFOobjective_server_node* MoveIt Pro License ×2 + 11.83sINFOobjective_server_node* Application has successfully terminated ×2 + 11.83sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.83sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.83sINFOodom_qos_relay.pymain() ×2 + 11.83sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.83sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.83sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.83sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.83sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.83sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.83sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.84sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.84sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.84sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.84sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.84sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.84sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 11.84sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.84sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.85sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.89sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.89sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.89sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.89sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.89sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.89sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.89sINFOvelocity_smootherDeactivating + 11.89sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.90sINFOcontroller_serverCleaning up + 11.90sINFOlocal_costmap.local_costmapCleaning up + 11.94sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.94sINFOsmoother_serverDeactivating + 11.94sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.95sINFOsmoother_serverCleaning up + 11.97sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.97sINFOplanner_serverDeactivating + 11.97sINFOglobal_costmap.global_costmapDeactivating + 12.01sERRORcomponent_container_isolated-2process has died [pid 10561, 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_na5pv24i --params-file /tmp/launch_params_dxc89wsd -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.01sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.01sINFOwaypoint_followerDeactivating + 12.01sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.12sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.12sINFObt_navigatorDeactivating + 12.12sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.23sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.23sINFObehavior_serverDeactivating + 12.23sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.35sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.35sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.35sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 12.35sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.35sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.35sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.35sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.35sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.35sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.35sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.35sINFOvelocity_smootherCleaning up + 12.35sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.35sINFOwaypoint_followerCleaning up + 12.38sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.38sINFObt_navigatorCleaning up + 12.46sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 10684] ×2 + 12.49sINFOmove_joint_resampler_node-24process has finished cleanly [pid 10683] ×2 + 12.55sINFOcomponent_container_mt-27process has finished cleanly [pid 10686] ×2 + 12.56sINFObt_navigatorCompleted Cleaning up + 12.56sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.56sINFObehavior_serverCleaning up + 12.57sINFOwaypoint_manager_node-23process has finished cleanly [pid 10662] ×2 + 12.58sINFOparameter_manager_node-22process has finished cleanly [pid 10661] ×2 + 12.62sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.62sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.62sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.62sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.62sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.62sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.62sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.68sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 10567] ×2 + 12.71sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 10566] ×2 + 12.78sINFOstatic_transform_publisher-4process has finished cleanly [pid 10563] ×2 + 12.79sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 10565] ×2 + 12.80sINFOstatic_transform_publisher-3process has finished cleanly [pid 10562] ×2 + 12.80sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.81sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.81sERRORodom_qos_relay.py-5process has died [pid 10564, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.82sINFOplanner_serverCleaning up + 12.83sINFOglobal_costmap.global_costmapCleaning up + 12.84sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.84sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.87sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.87sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.87sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.87sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.87sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.20sERRORcomponent_container_isolated-1process has died [pid 10560, 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_na5pv24i --params-file /tmp/launch_params_6t3yu4_t -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.26sINFOweb_bridge-31process has finished cleanly [pid 10691] ×2 + 14.26sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.33sINFOros2_control_node-9process has finished cleanly [pid 10568] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 6 errors · 50 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527249 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527249 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857643 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857643 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249237 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249237 ms (missed cycles : 3).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221787 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221787 ms (missed cycles : 4).[0m ×2 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.341ms + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.639ms + 3.74sINFOobjective_server_nodeObjective preemption by a new Objective goal requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.75sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.75sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.75sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.821ms + 3.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled via preemption by a new Objective goal: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786122261.28100038 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786122261.33027101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812066 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812066 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114520 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114520 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681003 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681003 ms (missed cycles : 3).[0m ×2 + 7.06sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________________________________________________________________X] ×2 + 7.11sINFOjoint_trajectory_controllerReceived new action goal + 7.11sINFOjoint_trajectory_controllerAccepted new action goal + 7.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116609 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116609 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920229 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920229 ms (missed cycles : 3).[0m ×2 + 8.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.102ms + 9.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.755ms + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984597 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984597 ms (missed cycles : 2).[0m ×2 + 9.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.896ms + 10.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.960ms + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042845 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042845 ms (missed cycles : 2).[0m ×2 + 10.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.111ms + 11.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.134ms + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577586 ms (missed cycles : 3). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577586 ms (missed cycles : 3).[0m ×2 + 11.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.288ms + 12.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.462ms + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080655 ms (missed cycles : 2). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080655 ms (missed cycles : 2).[0m ×2 + 12.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.769ms + 13.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.741ms + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091290 ms (missed cycles : 2). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091290 ms (missed cycles : 2).[0m ×2 + 13.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.96sINFOamclParticle filter update iteration stats: 4776 particles 723 points - 5.969ms + 13.97sERRORobjective_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: 1786122271.48150826 seconds ×3 + 14.04sWARNlocal_costmap.local_costmapSensor origin at (-0.51, 3.26) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 14.04sWARNlocal_costmap.local_costmapSensor origin at (-1.40, 3.20) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 14.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.891ms + 14.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.092ms + 14.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786122272.03671050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.996ms + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754996 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754996 ms (missed cycles : 2).[0m ×2 + 14.91sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 15.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.688ms + 15.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.160ms + 15.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.930ms + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185153 ms (missed cycles : 4). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185153 ms (missed cycles : 4).[0m ×2 + 15.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.054ms + 16.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.698ms + 16.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.074ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.7s | 38 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838470 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838470 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238387 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238387 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118160 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118160 ms (missed cycles : 3).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099228 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099228 ms (missed cycles : 4).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.58sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786122042.78883290 seconds ×3 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.164ms + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786122043.35627389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692017 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692017 ms (missed cycles : 3).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.062ms + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.59sINFOjoint_trajectory_controllerReceived new action goal + 4.59sINFOjoint_trajectory_controllerAccepted new action goal + 4.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.950ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180264 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180264 ms (missed cycles : 2).[0m ×2 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.926ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216740 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216740 ms (missed cycles : 2).[0m ×2 + 6.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545934 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545934 ms (missed cycles : 3).[0m ×2 + 7.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.960ms + 8.30sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786122047.48646832 seconds ×3 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753970 ms (missed cycles : 3). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753970 ms (missed cycles : 3).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354531 ms (missed cycles : 3). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354531 ms (missed cycles : 3).[0m ×2 + 9.86sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786122049.04772997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.28sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968902 ms (missed cycles : 2). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968902 ms (missed cycles : 2).[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759165 ms (missed cycles : 3). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759165 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 4.9s | 38 warnings · 57 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961833 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961833 ms (missed cycles : 3).[0m ×2 + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764626 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764626 ms (missed cycles : 3).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.261ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137966 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137966 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202146 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202146 ms (missed cycles : 2).[0m ×2 + 3.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 3.90sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.90sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.95sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786122345.50686502 seconds ×3 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.00sWARNlocal_costmap.local_costmapSensor origin at (-2.30, 13.81) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.00sWARNlocal_costmap.local_costmapSensor origin at (-3.10, 13.39) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.935ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712053 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712053 ms (missed cycles : 3).[0m ×2 + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.574ms + 4.51sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786122346.06886554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.030ms + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.869ms + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2).[0m ×2 + 6.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.793ms + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3).[0m ×2 + 6.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.937ms + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491281 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491281 ms (missed cycles : 3).[0m ×2 + 8.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973867 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973867 ms (missed cycles : 2).[0m ×2 + 8.88sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786122350.43012953 seconds ×3 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766818 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766818 ms (missed cycles : 2).[0m ×2 + 9.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786122350.99992704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.83sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166403 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166403 ms (missed cycles : 2).[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295479 ms (missed cycles : 2). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295479 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.8s | 30 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365111 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365111 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334188 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334188 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667082 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667082 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075618 ms (missed cycles : 2). + 3.07sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075618 ms (missed cycles : 2).[0m ×2 + 3.07sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786121981.39837766 seconds ×3 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786121981.95680761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992047 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992047 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (2.5488e-05 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 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 + 4.81sINFOjoint_trajectory_controllerReceived new action goal + 4.81sINFOjoint_trajectory_controllerAccepted new action goal + 4.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917835 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917835 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190005 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190005 ms (missed cycles : 2).[0m ×2 + 6.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786121985.20693660 seconds ×3 + 7.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786121985.76871014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725996 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725996 ms (missed cycles : 3).[0m ×2 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494740 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494740 ms (missed cycles : 3).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859636 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859636 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 21 warnings · 47 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.207ms ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041253 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041253 ms (missed cycles : 3).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.759ms + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279324 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279324 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.941ms + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.185ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596533 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596533 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786122421.37036991 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072787 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072787 ms (missed cycles : 2).[0m ×2 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.442ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.968ms + 4.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786122421.96380401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.09sINFOmove_groupClearing octomap...[0m ×2 + 4.09sINFOmove_groupOctomap cleared.[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.958ms + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274963 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274963 ms (missed cycles : 3).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.012ms + 4.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786122422.66393232 seconds ×3 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.506ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.341ms + 5.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786122423.21843624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046512 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046512 ms (missed cycles : 3).[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.081ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.826ms + 5.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786122423.78857303 seconds ×3 + 6.15sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.742ms + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187385 ms (missed cycles : 2). + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.907ms + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187385 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075618 ms (missed cycles : 2). + 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075618 ms (missed cycles : 2).[0m ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786121981.39837766 seconds ×3 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786121981.95680761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992047 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992047 ms (missed cycles : 2).[0m ×2 + 1.72sINFOobjective_server_nodeFound path in 0 iterations (2.5488e-05 s). ×2 + 1.72sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.75sINFOjoint_trajectory_controllerReceived new action goal + 1.75sINFOjoint_trajectory_controllerAccepted new action goal + 1.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917835 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917835 ms (missed cycles : 2).[0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190005 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190005 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786121985.20693660 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786121985.76871014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725996 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725996 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494740 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494740 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859636 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859636 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 23 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783594 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783594 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627784 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627784 ms (missed cycles : 4).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053490 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053490 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465283 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465283 ms (missed cycles : 4).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! + 3.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786122080.09786248 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.89sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.89sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.84) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.832ms + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786122080.66273856 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.127ms + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184320 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184320 ms (missed cycles : 2).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.132ms + 4.82sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 5.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.470ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.504ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004881 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004881 ms (missed cycles : 3).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.287ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.003ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.831ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.560ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969479 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969479 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.75sINFOjoint_trajectory_controllerReceived new action goal + 6.75sINFOjoint_trajectory_controllerAccepted new action goal + 6.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.486ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 23 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783594 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783594 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627784 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627784 ms (missed cycles : 4).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053490 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053490 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465283 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465283 ms (missed cycles : 4).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! + 3.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786122080.09786248 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.89sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.89sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.84) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.832ms + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786122080.66273856 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.127ms + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184320 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184320 ms (missed cycles : 2).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.132ms + 4.82sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 5.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.470ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.504ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004881 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004881 ms (missed cycles : 3).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.287ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.003ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.831ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.560ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969479 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969479 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.75sINFOjoint_trajectory_controllerReceived new action goal + 6.75sINFOjoint_trajectory_controllerAccepted new action goal + 6.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.486ms | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal + 0.00sINFOjoint_trajectory_controllerAccepted new action goal + 0.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.869ms + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.793ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.937ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491281 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491281 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973867 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973867 ms (missed cycles : 2).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786122350.43012953 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766818 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766818 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786122350.99992704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166403 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166403 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295479 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295479 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal + 0.00sINFOjoint_trajectory_controllerAccepted new action goal + 0.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.869ms + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.793ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.937ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491281 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491281 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973867 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973867 ms (missed cycles : 2).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786122350.43012953 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766818 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766818 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786122350.99992704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166403 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166403 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295479 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295479 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal + 0.00sINFOjoint_trajectory_controllerAccepted new action goal + 0.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.869ms + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.793ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.937ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491281 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491281 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973867 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973867 ms (missed cycles : 2).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786122350.43012953 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766818 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766818 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786122350.99992704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166403 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166403 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295479 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295479 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal + 0.00sINFOjoint_trajectory_controllerAccepted new action goal + 0.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.869ms + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.793ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.937ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491281 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491281 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973867 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973867 ms (missed cycles : 2).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786122350.43012953 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766818 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766818 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786122350.99992704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166403 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166403 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295479 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295479 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal + 0.00sINFOjoint_trajectory_controllerAccepted new action goal + 0.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.869ms + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.793ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.937ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491281 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491281 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973867 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973867 ms (missed cycles : 2).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786122350.43012953 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766818 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766818 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786122350.99992704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166403 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166403 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295479 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295479 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal + 0.00sINFOjoint_trajectory_controllerAccepted new action goal + 0.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.869ms + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.793ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.937ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491281 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491281 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973867 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973867 ms (missed cycles : 2).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786122350.43012953 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766818 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766818 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786122350.99992704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166403 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166403 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295479 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295479 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal + 0.00sINFOjoint_trajectory_controllerAccepted new action goal + 0.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.869ms + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910032 ms (missed cycles : 2).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.793ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964955 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.937ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491281 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491281 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973867 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973867 ms (missed cycles : 2).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786122350.43012953 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766818 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766818 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786122350.99992704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166403 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166403 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295479 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295479 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.207ms ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041253 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041253 ms (missed cycles : 3).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.759ms + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279324 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279324 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.941ms + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.185ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596533 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596533 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786122421.37036991 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072787 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072787 ms (missed cycles : 2).[0m ×2 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.442ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.968ms + 4.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786122421.96380401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.09sINFOmove_groupClearing octomap...[0m ×2 + 4.09sINFOmove_groupOctomap cleared.[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.958ms + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274963 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274963 ms (missed cycles : 3).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.012ms + 4.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786122422.66393232 seconds ×3 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.506ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.341ms + 5.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786122423.21843624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046512 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046512 ms (missed cycles : 3).[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.081ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.826ms + 5.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786122423.78857303 seconds ×3 + 6.15sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.742ms | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365111 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365111 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334188 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334188 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667082 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667082 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075618 ms (missed cycles : 2). + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075618 ms (missed cycles : 2).[0m ×2 + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786121981.39837766 seconds ×3 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786121981.95680761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992047 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992047 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (2.5488e-05 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sINFOjoint_trajectory_controllerReceived new action goal + 4.81sINFOjoint_trajectory_controllerAccepted new action goal + 4.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917835 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917835 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365111 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365111 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334188 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334188 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667082 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667082 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075618 ms (missed cycles : 2). + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075618 ms (missed cycles : 2).[0m ×2 + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786121981.39837766 seconds ×3 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786121981.95680761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992047 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992047 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (2.5488e-05 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sINFOjoint_trajectory_controllerReceived new action goal + 4.81sINFOjoint_trajectory_controllerAccepted new action goal + 4.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917835 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917835 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.37sINFOmove_groupClearing octomap...[0m ×2 + 3.37sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_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 + 5.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 23 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838470 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838470 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238387 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238387 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118160 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118160 ms (missed cycles : 3).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099228 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099228 ms (missed cycles : 4).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786122042.78883290 seconds ×3 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.164ms + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786122043.35627389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692017 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692017 ms (missed cycles : 3).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.062ms + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.59sINFOjoint_trajectory_controllerReceived new action goal + 4.59sINFOjoint_trajectory_controllerAccepted new action goal + 4.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.950ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180264 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180264 ms (missed cycles : 2).[0m ×2 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.926ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216740 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216740 ms (missed cycles : 2).[0m ×2 + 6.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 23 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838470 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838470 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238387 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238387 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118160 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118160 ms (missed cycles : 3).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099228 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099228 ms (missed cycles : 4).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786122042.78883290 seconds ×3 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.164ms + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786122043.35627389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692017 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692017 ms (missed cycles : 3).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.062ms + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.59sINFOjoint_trajectory_controllerReceived new action goal + 4.59sINFOjoint_trajectory_controllerAccepted new action goal + 4.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.950ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180264 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180264 ms (missed cycles : 2).[0m ×2 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.926ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216740 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216740 ms (missed cycles : 2).[0m ×2 + 6.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 23 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838470 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838470 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238387 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238387 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118160 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118160 ms (missed cycles : 3).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099228 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099228 ms (missed cycles : 4).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786122042.78883290 seconds ×3 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.164ms + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786122043.35627389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692017 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692017 ms (missed cycles : 3).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.062ms + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.59sINFOjoint_trajectory_controllerReceived new action goal + 4.59sINFOjoint_trajectory_controllerAccepted new action goal + 4.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.950ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180264 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180264 ms (missed cycles : 2).[0m ×2 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.926ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216740 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216740 ms (missed cycles : 2).[0m ×2 + 6.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 23 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838470 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838470 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238387 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238387 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118160 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118160 ms (missed cycles : 3).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099228 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099228 ms (missed cycles : 4).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786122042.78883290 seconds ×3 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.164ms + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786122043.35627389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692017 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692017 ms (missed cycles : 3).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.062ms + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.59sINFOjoint_trajectory_controllerReceived new action goal + 4.59sINFOjoint_trajectory_controllerAccepted new action goal + 4.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.950ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180264 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180264 ms (missed cycles : 2).[0m ×2 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.926ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216740 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216740 ms (missed cycles : 2).[0m ×2 + 6.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 23 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838470 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838470 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238387 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238387 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118160 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118160 ms (missed cycles : 3).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099228 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099228 ms (missed cycles : 4).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786122042.78883290 seconds ×3 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.67sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.164ms + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786122043.35627389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692017 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692017 ms (missed cycles : 3).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.062ms + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.59sINFOjoint_trajectory_controllerReceived new action goal + 4.59sINFOjoint_trajectory_controllerAccepted new action goal + 4.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.950ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180264 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180264 ms (missed cycles : 2).[0m ×2 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.926ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216740 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216740 ms (missed cycles : 2).[0m ×2 + 6.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 23 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783594 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783594 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627784 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627784 ms (missed cycles : 4).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053490 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053490 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465283 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465283 ms (missed cycles : 4).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! + 3.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786122080.09786248 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.89sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.89sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.84) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.832ms + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786122080.66273856 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.127ms + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184320 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184320 ms (missed cycles : 2).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.132ms + 4.82sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 5.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.470ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.504ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004881 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004881 ms (missed cycles : 3).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.287ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.003ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.831ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.560ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969479 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969479 ms (missed cycles : 3).[0m ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.75sINFOjoint_trajectory_controllerReceived new action goal + 6.75sINFOjoint_trajectory_controllerAccepted new action goal + 6.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.486ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.37sINFOmove_groupClearing octomap...[0m ×2 + 3.37sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_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 + 5.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.37sINFOmove_groupClearing octomap...[0m ×2 + 3.37sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_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 + 5.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 32.3s | 57 errors · 872 warnings · 1966 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/2026-08-07-16-49-27-924073-f9a38877cebb-9378 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 14.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 14.15sINFOros2_control_node-9process started with pid [9436] + 14.17sINFOmove_group-21process started with pid [9543] + 14.17sINFOparameter_manager_node-22process started with pid [9544] + 14.17sINFOwaypoint_manager_node-23process started with pid [9545] + 14.17sINFOmove_joint_resampler_node-24process started with pid [9546] + 14.17sINFOmove_end_effector_resampler_node-25process started with pid [9547] + 14.17sINFOobjective_server_node_main-26process started with pid [9548] + 14.17sINFOcomponent_container_mt-27process started with pid [9551] + 14.17sINFOcomponent_container_mt-28process started with pid [9552] + 14.17sINFOexecute_objective_bridge-29process started with pid [9553] + 14.17sINFOui_teleop_bridge-30process started with pid [9554] + 14.17sINFOweb_bridge-31process started with pid [9555] + 14.17sINFOtf2_web_republisher_node-32process started with pid [9557] + 14.18sINFOvideo_server-33process started with pid [9560] + 14.18sINFOweb_bridge_auth_proxy-34process started with pid [9561] + 14.18sINFOweb_video_auth_proxy-35process started with pid [9562] + 14.20sINFOcomponent_container_isolated-1process started with pid [9428] + 14.20sINFOcomponent_container_isolated-2process started with pid [9429] + 14.21sINFOstatic_transform_publisher-3process started with pid [9430] + 14.21sINFOstatic_transform_publisher-4process started with pid [9431] + 14.21sINFOodom_qos_relay.py-5process started with pid [9432] + 14.21sINFOforward_stereo_publisher.py-6process started with pid [9433] + 14.21sINFOscan_to_scan_filter_chain-7process started with pid [9434] + 14.21sINFOscan_to_scan_filter_chain-8process started with pid [9435] + 14.21sINFOros2-10process started with pid [9514] + 14.21sINFOros2-11process started with pid [9515] + 14.21sINFOros2-12process started with pid [9516] + 14.21sINFOros2-13process started with pid [9526] + 14.21sINFOros2-14process started with pid [9536] + 14.21sINFOros2-15process started with pid [9537] + 14.21sINFOros2-16process started with pid [9538] + 14.21sINFOros2-17process started with pid [9539] + 14.21sINFOros2-18process started with pid [9540] + 14.21sINFOros2-19process started with pid [9541] + 14.21sINFOros2-20process started with pid [9542] + 14.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 14.36sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 14.36sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 14.36sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 14.36sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 14.36sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 14.36sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 14.36sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 14.36sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 14.36sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 14.36sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 14.36sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 14.36sWARNros2_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 ×3 + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182417 ms (missed cycles : 2).[0m + 14.38sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 14.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 14.38sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 14.38sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 14.40sINFOcomponent_container_mtRobot initialized[0m ×3 + 14.40sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 14.40sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 14.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 14.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 14.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 14.44sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 14.46sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 14.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 14.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 14.56sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 14.56sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 14.56sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 14.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 14.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 14.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 14.64sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 14.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 14.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 14.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 14.82sWARNscan_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 ×6 + 14.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276167 ms (missed cycles : 2).[0m + 15.24sINFOmove_groupLoaded robot model in 0.453662 seconds[0m + 15.24sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 15.24sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 15.32sINFOvideo_server2026/08/07 16:49:46 INF MediaMTX v1.19.3, linux, amd64 + 15.32sINFOvideo_server2026/08/07 16:49:46 INF configuration loaded from /tmp/moveit-webrtc-6tmeb8u1/mediamtx.yml + 15.32sINFOvideo_server2026/08/07 16:49:46 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 15.32sINFOvideo_server2026/08/07 16:49:46 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 15.60sINFOwaypoint_manager_nodeLoaded robot model in 0.404094 seconds[0m + 15.60sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 15.60sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649644 ms (missed cycles : 3).[0m + 16.32sWARNwaypoint_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 ×3 + 16.32sWARNwaypoint_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 ×3 + 16.32sWARNwaypoint_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 ×3 + 16.32sWARNwaypoint_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 ×3 + 16.32sWARNwaypoint_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 ×3 + 16.32sWARNwaypoint_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 ×3 + 16.32sWARNwaypoint_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 ×3 + 16.32sWARNwaypoint_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 ×3 + 16.32sWARNwaypoint_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 ×3 + 16.32sWARNwaypoint_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 ×3 + 16.32sWARNwaypoint_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 ×3 + 16.32sWARNwaypoint_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 ×3 + 16.32sWARNwaypoint_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 ×3 + 16.33sWARNwaypoint_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 ×3 + 16.33sWARNwaypoint_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 ×3 + 16.33sWARNwaypoint_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 ×3 + 16.33sWARNwaypoint_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 ×3 + 16.33sWARNwaypoint_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 ×3 + 16.33sWARNwaypoint_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 ×3 + 16.33sWARNwaypoint_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 ×3 + 16.33sWARNwaypoint_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 ×3 + 16.33sWARNwaypoint_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 ×3 + 16.33sWARNwaypoint_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 ×3 + 16.33sWARNwaypoint_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 ×3 + 16.33sWARNwaypoint_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 ×3 + 16.33sWARNwaypoint_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 ×3 + 16.33sWARNwaypoint_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 ×3 + 16.33sWARNwaypoint_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 ×3 + 16.36sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 16.36sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.36sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.36sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.36sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.36sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.36sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.36sWARNmove_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 ×3 + 16.36sWARNmove_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 ×3 + 16.36sWARNmove_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 ×3 + 16.36sWARNmove_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 ×3 + 16.56sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 16.67sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 16.68sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 16.78sINFOwaypoint_manager_node[2026-08-07 16:49:48.074] [moveit_pro_license] [info] + 16.78sINFOwaypoint_manager_node************************************************* ×6 + 16.78sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 16.78sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.83sINFOmove_group[2026-08-07 16:49:48.119] [moveit_pro_license] [info] + 16.83sINFOmove_group************************************************* ×6 + 16.83sINFOmove_group* MoveIt Pro License ×3 + 16.83sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 17.31sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 17.31sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 17.32sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 17.37sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 17.38sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 17.38sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 17.38sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 17.38sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 17.38sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 17.39sINFOmove_groupStarting planning scene monitor[0m ×3 + 17.39sINFOmove_groupListening to '/planning_scene'[0m ×3 + 17.39sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 17.39sINFOmove_groupListening to 'collision_object'[0m ×3 + 17.39sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223149 ms (missed cycles : 2).[0m + 17.62sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 17.62sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 17.62sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 17.62sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 17.62sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 17.62sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 17.62sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 17.62sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 17.62sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 17.62sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 17.62sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 17.62sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 17.62sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 17.62sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 17.62sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 17.62sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 17.62sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 17.62sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 17.62sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 17.62sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 17.66sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 17.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 17.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 17.83sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_p6ztrawx --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_ih9xjvry --params-file /tmp/launch_params_0kh2p0nd [0m + 17.86sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×3 + 17.86sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 17.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 17.87sINFOros2_control_nodeconfigure successful[0m ×9 + 17.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 17.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 17.88sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 17.98sINFOobjective_server_node[2026-08-07 16:49:49.279] [moveit_pro_license] [info] + 17.98sINFOobjective_server_node************************************************* ×8 + 17.98sINFOobjective_server_node* MoveIt Pro License ×4 + 17.98sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 17.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 17.99sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.00sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 18.01sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 18.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 18.01sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 18.01sINFOcomponent_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 ×3 + 18.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 18.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 18.05sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 18.06sINFOobjective_server_nodeLoaded robot model in 0.0254767 seconds[0m + 18.06sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 18.06sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 18.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 18.08sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 18.24sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 18.24sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 18.25sINFOros2-10process has finished cleanly [pid 9514] + 18.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 18.28sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 18.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 18.28sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 18.30sWARNcomponent_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 ×3 + 18.32sINFOcomponent_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 ×3 + 18.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 18.39sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_p6ztrawx --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_ih9xjvry --params-file /tmp/launch_params_0kh2p0nd [0m + 18.45sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 18.45sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 18.45sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 18.45sWARNobjective_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 ×3 + 18.45sWARNobjective_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 ×3 + 18.46sWARNobjective_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 ×3 + 18.46sWARNobjective_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 ×3 + 18.46sWARNobjective_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 ×3 + 18.46sWARNobjective_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 ×3 + 18.46sWARNobjective_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 ×3 + 18.46sWARNobjective_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 ×3 + 18.46sWARNobjective_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 ×3 + 18.46sWARNobjective_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 ×3 + 18.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 18.47sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 18.53sINFOobjective_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. ×3 + 18.53sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 18.55sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 18.55sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 18.55sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 18.55sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 18.55sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 18.55sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 18.55sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 18.63sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 18.74sINFOcomponent_container_mtLoaded robot model in 0.443962 seconds[0m + 18.74sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 18.74sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 18.81sINFOros2_control_node[2026-08-07 16:49:50.105] [info] Controller state will be published at 20 Hz. + 18.81sINFOros2_control_node[2026-08-07 16:49:50.107] [info] JointVelocityController 'on_configure' succeeded. + 18.86sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 19.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772821 ms (missed cycles : 2).[0m + 19.08sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.08sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.08sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.08sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.08sWARNcomponent_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 ×3 + 19.08sWARNcomponent_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 ×3 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 19.10sWARNcomponent_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 ×3 + 19.10sWARNcomponent_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 ×3 + 19.10sWARNcomponent_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 ×3 + 19.10sWARNcomponent_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 ×3 + 19.10sWARNcomponent_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 ×3 + 19.10sWARNcomponent_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 ×3 + 19.10sWARNcomponent_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 ×3 + 19.10sWARNcomponent_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 ×3 + 19.10sWARNcomponent_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 ×3 + 19.10sWARNcomponent_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 ×3 + 19.10sWARNcomponent_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 ×3 + 19.10sWARNcomponent_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 ×3 + 19.10sWARNcomponent_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 ×3 + 19.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 19.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 19.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_p6ztrawx --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_ih9xjvry --params-file /tmp/launch_params_0kh2p0nd [0m + 19.18sINFOros2-19process has finished cleanly [pid 9541] + 19.25sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 19.26sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 19.26sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 19.26sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 19.26sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 19.26sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 19.26sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 19.26sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 19.27sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 19.27sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 19.28sINFOcomponent_container_mt[2026-08-07 16:49:50.580] [moveit_pro_license] [info] + 19.28sINFOcomponent_container_mt************************************************* ×6 + 19.28sINFOcomponent_container_mt* MoveIt Pro License ×3 + 19.28sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 19.31sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 19.31sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 19.32sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 19.32sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 19.32sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 19.32sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 19.32sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 19.32sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 19.38sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 19.45sINFOmove_group ×12 + 19.45sINFOmove_group******************************************************** ×6 + 19.45sINFOmove_group* MoveGroup using: ×3 + 19.45sINFOmove_group* - apply_planning_scene_service ×3 + 19.45sINFOmove_group* - clear_octomap_service ×3 + 19.45sINFOmove_group* - get_group_urdf ×3 + 19.45sINFOmove_group* - load_geometry_from_file ×3 + 19.45sINFOmove_group* - get_planning_scene_service ×3 + 19.45sINFOmove_group* - kinematics_service ×3 + 19.45sINFOmove_group* - save_geometry_to_file ×3 + 19.45sINFOmove_group* - GetPlanningGroups ×3 + 19.45sINFOmove_group* - URDFPlanningSceneCapability ×3 + 19.45sINFOmove_group[0m ×3 + 19.45sINFOmove_group[92mYou can start planning now![0m ×3 + 19.63sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 19.63sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 19.64sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_p6ztrawx --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_ih9xjvry --params-file /tmp/launch_params_0kh2p0nd [0m + 19.64sINFOros2-16process has finished cleanly [pid 9538] + 19.69sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 19.70sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 19.70sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 19.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 19.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 19.71sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 19.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 19.85sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 19.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 20.02sINFOros2-15process has finished cleanly [pid 9537] + 20.03sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 20.03sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 20.03sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_p6ztrawx --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_ih9xjvry --params-file /tmp/launch_params_0kh2p0nd [0m + 20.05sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 20.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612242 ms (missed cycles : 2).[0m + 20.10sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 20.10sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 20.10sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 20.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 20.11sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 20.35sWARNobjective_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/. ×3 + 20.44sINFOros2-14process has finished cleanly [pid 9536] + 20.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 20.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 20.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_p6ztrawx --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_ih9xjvry --params-file /tmp/launch_params_0kh2p0nd [0m + 20.60sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 20.60sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 20.83sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 20.93sINFOros2_control_node[2026-08-07 16:49:52.228] [warning] No force/torque sensor configured. The VFC will ignore force references. + 20.93sINFOros2_control_node[2026-08-07 16:49:52.230] [info] Controller state will be published at 10 Hz. + 20.93sINFOros2_control_node[2026-08-07 16:49:52.232] [info] VelocityForceController 'on_configure' succeeded. + 21.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404631 ms (missed cycles : 2).[0m + 21.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 21.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 21.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_p6ztrawx --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_ih9xjvry --params-file /tmp/launch_params_0kh2p0nd [0m + 21.30sINFOros2-17process has finished cleanly [pid 9539] + 21.33sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 21.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 21.64sINFOros2_control_node[2026-08-07 16:49:52.938] [warning] No force/torque sensor configured. The VFC will ignore force references. + 21.64sINFOros2_control_node[2026-08-07 16:49:52.940] [info] Controller state will be published at 10 Hz. + 21.64sINFOros2_control_node[2026-08-07 16:49:52.941] [info] VelocityForceController 'on_configure' succeeded. + 22.00sINFOros2-18process has finished cleanly [pid 9540] + 22.02sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 22.02sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 22.02sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_p6ztrawx --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_ih9xjvry --params-file /tmp/launch_params_0kh2p0nd [0m + 22.09sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 22.09sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 22.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847235 ms (missed cycles : 3).[0m + 22.40sINFOros2_control_node[2026-08-07 16:49:53.701] [info] Controller state will be published at 20 Hz. + 22.41sINFOros2_control_node[2026-08-07 16:49:53.702] [info] JointVelocityController 'on_configure' succeeded. + 22.74sINFOros2-20process has finished cleanly [pid 9542] + 22.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 22.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 22.78sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_p6ztrawx --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_ih9xjvry --params-file /tmp/launch_params_0kh2p0nd [0m + 22.84sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 22.84sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 22.84sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 22.85sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 22.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 23.18sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 23.18sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 23.18sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_p6ztrawx --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_ih9xjvry --params-file /tmp/launch_params_0kh2p0nd [0m + 23.21sINFOros2-12process has finished cleanly [pid 9516] + 23.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136921 ms (missed cycles : 2).[0m + 23.24sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 23.24sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 23.25sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 23.25sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 23.59sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 23.59sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 23.59sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_p6ztrawx --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_ih9xjvry --params-file /tmp/launch_params_0kh2p0nd [0m + 23.62sINFOros2-11process has finished cleanly [pid 9515] + 23.66sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 23.66sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 23.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 23.67sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 23.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 23.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 24.00sINFOros2-13process has finished cleanly [pid 9526] + 24.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505685 ms (missed cycles : 3).[0m + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773448 ms (missed cycles : 3).[0m + 26.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266536 ms (missed cycles : 2).[0m + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380943 ms (missed cycles : 3).[0m + 27.66sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×3 + 28.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110189 ms (missed cycles : 3).[0m + 28.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121400.28051853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 28.99sINFOmove_groupClearing octomap...[0m ×4 + 28.99sINFOmove_groupOctomap cleared.[0m ×4 + 28.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121400.29077268 seconds + 29.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151727 ms (missed cycles : 2).[0m + 29.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121400.85920525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 29.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121400.86932397 seconds + 30.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121401.42075562 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 30.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121401.57126546 seconds + 30.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931098 ms (missed cycles : 2).[0m + 30.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121402.16557097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 30.88sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 30.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 30.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 30.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 30.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121402.22570872 seconds + 31.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121402.78292060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 31.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 31.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 31.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m + 31.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m + 31.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994190 ms (missed cycles : 2).[0m + 32.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×7 + 32.56sINFOobjective_server_nodePlanning for 177 path waypoints. + 32.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550307 ms (missed cycles : 3).[0m + 32.89sINFOros2_control_nodeReceived new action goal[0m ×18 + 32.89sINFOros2_control_nodeAccepted new action goal[0m ×18 + 33.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435756 ms (missed cycles : 2).[0m + 35.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500562 ms (missed cycles : 2).[0m + 36.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814709 ms (missed cycles : 3).[0m + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107951 ms (missed cycles : 2).[0m + 38.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305625 ms (missed cycles : 2).[0m + 39.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898194 ms (missed cycles : 3).[0m + 40.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783875 ms (missed cycles : 2).[0m + 41.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996973 ms (missed cycles : 2).[0m + 42.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365221 ms (missed cycles : 3).[0m + 43.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121402 ms (missed cycles : 3).[0m + 44.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049631 ms (missed cycles : 3).[0m + 45.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616951 ms (missed cycles : 3).[0m + 46.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553953 ms (missed cycles : 3).[0m + 47.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250870 ms (missed cycles : 2).[0m + 48.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012487 ms (missed cycles : 2).[0m + 49.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969643 ms (missed cycles : 2).[0m + 50.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169251 ms (missed cycles : 3).[0m + 51.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424163 ms (missed cycles : 2).[0m + 52.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011908 ms (missed cycles : 2).[0m + 53.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990959 ms (missed cycles : 2).[0m + 55.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319411 ms (missed cycles : 2).[0m + 56.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163676 ms (missed cycles : 3).[0m + 57.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106824 ms (missed cycles : 2).[0m + 58.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475332 ms (missed cycles : 3).[0m + 59.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300344 ms (missed cycles : 2).[0m + 60.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470556 ms (missed cycles : 3).[0m + 61.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553697 ms (missed cycles : 3).[0m + 62.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550085 ms (missed cycles : 3).[0m + 63.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168260 ms (missed cycles : 3).[0m + 64.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596416 ms (missed cycles : 2).[0m + 65.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319519 ms (missed cycles : 2).[0m + 66.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962915 ms (missed cycles : 2).[0m + 67.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114902 ms (missed cycles : 3).[0m + 68.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894307 ms (missed cycles : 2).[0m + 69.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082432 ms (missed cycles : 2).[0m + 71.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103200 ms (missed cycles : 2).[0m + 72.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738068 ms (missed cycles : 2).[0m + 73.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076351 ms (missed cycles : 2).[0m + 74.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329066 ms (missed cycles : 2).[0m + 74.54sINFOros2_control_nodeGoal reached, success![0m ×16 + 74.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786121445.84370732 seconds + 75.11sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786121446.40424418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 75.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364044 ms (missed cycles : 3).[0m + 76.16sINFOobjective_server_nodeFound path in 0 iterations (2.3883e-05 s). + 76.16sINFOobjective_server_nodePath shortcutter: [X____X] + 76.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×11 + 76.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903446 ms (missed cycles : 3).[0m + 77.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683013 ms (missed cycles : 3).[0m + 78.29sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786121449.58641052 seconds + 78.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202105 ms (missed cycles : 2).[0m + 78.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786121450.15267372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 79.29sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). + 79.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973124 ms (missed cycles : 3).[0m + 80.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934700 ms (missed cycles : 3).[0m + 81.68sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 81.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721749 ms (missed cycles : 2).[0m + 82.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675527 ms (missed cycles : 2).[0m + 84.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941774 ms (missed cycles : 3).[0m + 85.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765289 ms (missed cycles : 2).[0m + 86.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096559 ms (missed cycles : 3).[0m + 87.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310459 ms (missed cycles : 3).[0m + 87.66sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m + 88.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038422 ms (missed cycles : 3).[0m + 89.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826253 ms (missed cycles : 2).[0m + 90.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323318 ms (missed cycles : 2).[0m + 91.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448637 ms (missed cycles : 3).[0m + 92.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849490 ms (missed cycles : 3).[0m + 93.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502145 ms (missed cycles : 3).[0m + 94.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836225 ms (missed cycles : 3).[0m + 95.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192798 ms (missed cycles : 2).[0m + 97.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430430 ms (missed cycles : 4).[0m + 98.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168031 ms (missed cycles : 3).[0m + 99.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185503 ms (missed cycles : 3).[0m +100.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.330878 ms (missed cycles : 4).[0m +101.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421761 ms (missed cycles : 2).[0m +102.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376291 ms (missed cycles : 3).[0m +103.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.425608 ms (missed cycles : 4).[0m +104.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914179 ms (missed cycles : 3).[0m +105.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310620 ms (missed cycles : 2).[0m +106.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470808 ms (missed cycles : 4).[0m +107.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071958 ms (missed cycles : 3).[0m +109.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.835923 ms (missed cycles : 5).[0m +110.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826498 ms (missed cycles : 4).[0m +110.45sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +111.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686080 ms (missed cycles : 3).[0m +112.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201481 ms (missed cycles : 4).[0m +113.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770170 ms (missed cycles : 4).[0m +114.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447652 ms (missed cycles : 3).[0m +115.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135245 ms (missed cycles : 3).[0m +116.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174491 ms (missed cycles : 4).[0m +117.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354767 ms (missed cycles : 4).[0m +118.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802471 ms (missed cycles : 3).[0m +119.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071745 ms (missed cycles : 3).[0m +120.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500060 ms (missed cycles : 2).[0m +121.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603770 ms (missed cycles : 3).[0m +123.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150807 ms (missed cycles : 3).[0m +124.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076505 ms (missed cycles : 4).[0m +125.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838245 ms (missed cycles : 5).[0m +126.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321420 ms (missed cycles : 2).[0m +127.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265945 ms (missed cycles : 4).[0m +128.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920057 ms (missed cycles : 3).[0m +129.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569601 ms (missed cycles : 4).[0m +130.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006229 ms (missed cycles : 3).[0m +131.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411456 ms (missed cycles : 2).[0m +132.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117094 ms (missed cycles : 3).[0m +133.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816167 ms (missed cycles : 3).[0m +134.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106897 ms (missed cycles : 3).[0m +135.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195626 ms (missed cycles : 4).[0m +136.08sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786121507.37280726 seconds +136.65sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786121507.94948578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +136.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115961 ms (missed cycles : 3).[0m +137.03sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). +137.06sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +137.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527982 ms (missed cycles : 3).[0m +139.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239711 ms (missed cycles : 4).[0m +140.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112559 ms (missed cycles : 4).[0m +140.77sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786121512.06962276 seconds +141.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566596 ms (missed cycles : 3).[0m +142.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731602 ms (missed cycles : 2).[0m +142.33sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786121513.62633634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +142.80sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). +143.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133724 ms (missed cycles : 3).[0m +144.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545711 ms (missed cycles : 3).[0m +144.85sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 +145.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021284 ms (missed cycles : 2).[0m +146.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401495 ms (missed cycles : 3).[0m +147.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877947 ms (missed cycles : 3).[0m +147.67sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m +148.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278453 ms (missed cycles : 2).[0m +149.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011563 ms (missed cycles : 2).[0m +150.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651521 ms (missed cycles : 3).[0m +151.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.323591 ms (missed cycles : 4).[0m +152.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019822 ms (missed cycles : 4).[0m +153.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866589 ms (missed cycles : 2).[0m +154.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455650 ms (missed cycles : 2).[0m +155.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759606 ms (missed cycles : 2).[0m +157.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187520 ms (missed cycles : 2).[0m +158.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849677 ms (missed cycles : 2).[0m +159.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601896 ms (missed cycles : 3).[0m +160.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056552 ms (missed cycles : 2).[0m +161.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.264689 ms (missed cycles : 4).[0m +162.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700430 ms (missed cycles : 2).[0m +163.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873650 ms (missed cycles : 3).[0m +164.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399103 ms (missed cycles : 2).[0m +165.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352587 ms (missed cycles : 2).[0m +166.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800668 ms (missed cycles : 4).[0m +168.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338434 ms (missed cycles : 4).[0m +169.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478455 ms (missed cycles : 3).[0m +170.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347606 ms (missed cycles : 3).[0m +171.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922037 ms (missed cycles : 3).[0m +172.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723261 ms (missed cycles : 3).[0m +173.34sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786121544.63646460 seconds +173.90sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786121545.19803333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +173.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637167 ms (missed cycles : 3).[0m +174.31sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 +175.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478777 ms (missed cycles : 3).[0m +176.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325259 ms (missed cycles : 4).[0m +176.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +177.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774399 ms (missed cycles : 3).[0m +178.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892725 ms (missed cycles : 3).[0m +179.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396913 ms (missed cycles : 3).[0m +180.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020320 ms (missed cycles : 3).[0m +181.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232408 ms (missed cycles : 3).[0m +182.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316663 ms (missed cycles : 3).[0m +183.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122945 ms (missed cycles : 3).[0m +184.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890398 ms (missed cycles : 3).[0m +185.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390785 ms (missed cycles : 2).[0m +186.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216512 ms (missed cycles : 3).[0m +187.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264893 ms (missed cycles : 3).[0m +189.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096889 ms (missed cycles : 4).[0m +190.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548634 ms (missed cycles : 2).[0m +191.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234790 ms (missed cycles : 4).[0m +192.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463626 ms (missed cycles : 2).[0m +193.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099012 ms (missed cycles : 3).[0m +194.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.782583 ms (missed cycles : 5).[0m +195.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491729 ms (missed cycles : 4).[0m +196.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016483 ms (missed cycles : 2).[0m +197.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106493 ms (missed cycles : 3).[0m +198.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287706 ms (missed cycles : 2).[0m +199.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042257 ms (missed cycles : 3).[0m +200.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737537 ms (missed cycles : 3).[0m +201.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009928 ms (missed cycles : 4).[0m +202.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277272 ms (missed cycles : 3).[0m +203.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130930 ms (missed cycles : 2).[0m +204.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886440 ms (missed cycles : 3).[0m +205.79sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +205.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619857 ms (missed cycles : 4).[0m +206.51sINFOobjective_server_nodePlanning for 48 path waypoints. +207.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577749 ms (missed cycles : 3).[0m +207.67sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m +208.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646063 ms (missed cycles : 2).[0m +209.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056076 ms (missed cycles : 3).[0m +210.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721965 ms (missed cycles : 3).[0m +211.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576665 ms (missed cycles : 4).[0m +212.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067125 ms (missed cycles : 2).[0m +213.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503879 ms (missed cycles : 2).[0m +214.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689481 ms (missed cycles : 3).[0m +215.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577313 ms (missed cycles : 3).[0m +216.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439773 ms (missed cycles : 2).[0m +217.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805073 ms (missed cycles : 4).[0m +218.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327968 ms (missed cycles : 4).[0m +219.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999361 ms (missed cycles : 2).[0m +221.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181840 ms (missed cycles : 3).[0m +222.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931270 ms (missed cycles : 2).[0m +223.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346006 ms (missed cycles : 3).[0m +224.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167819 ms (missed cycles : 4).[0m +225.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332695 ms (missed cycles : 2).[0m +226.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462010 ms (missed cycles : 3).[0m +227.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819795 ms (missed cycles : 3).[0m +228.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523832 ms (missed cycles : 3).[0m +229.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969329 ms (missed cycles : 3).[0m +230.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271033 ms (missed cycles : 2).[0m +231.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165188 ms (missed cycles : 2).[0m +232.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.990214 ms (missed cycles : 5).[0m +233.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420106 ms (missed cycles : 2).[0m +234.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864269 ms (missed cycles : 3).[0m +235.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127917 ms (missed cycles : 3).[0m +236.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206329 ms (missed cycles : 3).[0m +238.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769559 ms (missed cycles : 3).[0m +239.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003422 ms (missed cycles : 4).[0m +240.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651828 ms (missed cycles : 3).[0m +241.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095258 ms (missed cycles : 3).[0m +242.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753991 ms (missed cycles : 3).[0m +243.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005735 ms (missed cycles : 2).[0m +244.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886887 ms (missed cycles : 3).[0m +245.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351642 ms (missed cycles : 4).[0m +246.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868723 ms (missed cycles : 3).[0m +247.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777505 ms (missed cycles : 2).[0m +249.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667748 ms (missed cycles : 3).[0m +250.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933986 ms (missed cycles : 3).[0m +251.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401240 ms (missed cycles : 3).[0m +252.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179930 ms (missed cycles : 3).[0m +253.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157564 ms (missed cycles : 3).[0m +254.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908406 ms (missed cycles : 2).[0m +255.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695030 ms (missed cycles : 2).[0m +256.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389746 ms (missed cycles : 3).[0m +257.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149681 ms (missed cycles : 2).[0m +258.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314863 ms (missed cycles : 3).[0m +259.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942254 ms (missed cycles : 4).[0m +260.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283761 ms (missed cycles : 3).[0m +261.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657604 ms (missed cycles : 3).[0m +262.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627905 ms (missed cycles : 4).[0m +263.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889540 ms (missed cycles : 3).[0m +264.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222199 ms (missed cycles : 2).[0m +265.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102237 ms (missed cycles : 3).[0m +267.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249377 ms (missed cycles : 3).[0m +267.67sINFOros2_control_nodeMuJoCo sim: 0.95% of iterations over time budget. Below 1% expected for non-realtime.[0m +268.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395406 ms (missed cycles : 2).[0m +269.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360007 ms (missed cycles : 3).[0m +270.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482545 ms (missed cycles : 3).[0m +271.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178319 ms (missed cycles : 2).[0m +272.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381395 ms (missed cycles : 2).[0m +273.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565393 ms (missed cycles : 3).[0m +274.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043593 ms (missed cycles : 4).[0m +275.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891090 ms (missed cycles : 3).[0m +276.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146850 ms (missed cycles : 3).[0m +278.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247513 ms (missed cycles : 2).[0m +279.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553657 ms (missed cycles : 3).[0m +280.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196673 ms (missed cycles : 3).[0m +281.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068040 ms (missed cycles : 2).[0m +282.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848846 ms (missed cycles : 3).[0m +283.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482845 ms (missed cycles : 3).[0m +284.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880436 ms (missed cycles : 2).[0m +285.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941156 ms (missed cycles : 3).[0m +286.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966787 ms (missed cycles : 3).[0m +287.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391118 ms (missed cycles : 3).[0m +288.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278788 ms (missed cycles : 3).[0m +289.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334731 ms (missed cycles : 3).[0m +290.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415497 ms (missed cycles : 3).[0m +291.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639540 ms (missed cycles : 3).[0m +293.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150284 ms (missed cycles : 4).[0m +294.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983662 ms (missed cycles : 3).[0m +295.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213722 ms (missed cycles : 2).[0m +296.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805752 ms (missed cycles : 3).[0m +297.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163074 ms (missed cycles : 3).[0m +298.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027531 ms (missed cycles : 2).[0m +299.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118334 ms (missed cycles : 2).[0m +300.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330451 ms (missed cycles : 2).[0m +301.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717793 ms (missed cycles : 2).[0m +302.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567990 ms (missed cycles : 3).[0m +303.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553100 ms (missed cycles : 2).[0m +304.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199944 ms (missed cycles : 3).[0m +305.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951949 ms (missed cycles : 3).[0m +306.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606031 ms (missed cycles : 3).[0m +307.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938717 ms (missed cycles : 4).[0m +308.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970737 ms (missed cycles : 2).[0m +310.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785617 ms (missed cycles : 3).[0m +311.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872855 ms (missed cycles : 3).[0m +312.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942341 ms (missed cycles : 3).[0m +313.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999690 ms (missed cycles : 2).[0m +314.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648186 ms (missed cycles : 4).[0m +315.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758554 ms (missed cycles : 2).[0m +316.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860653 ms (missed cycles : 3).[0m +317.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.704196 ms (missed cycles : 4).[0m +318.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966032 ms (missed cycles : 3).[0m +319.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657721 ms (missed cycles : 3).[0m +320.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858332 ms (missed cycles : 3).[0m +322.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861001 ms (missed cycles : 3).[0m +323.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741960 ms (missed cycles : 3).[0m +324.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008700 ms (missed cycles : 4).[0m +325.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300861 ms (missed cycles : 3).[0m +326.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711745 ms (missed cycles : 4).[0m +327.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864198 ms (missed cycles : 2).[0m +327.68sINFOros2_control_nodeMuJoCo sim: 1.08% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +328.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189155 ms (missed cycles : 3).[0m +329.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486945 ms (missed cycles : 2).[0m +330.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257107 ms (missed cycles : 3).[0m +331.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902638 ms (missed cycles : 3).[0m +332.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781616 ms (missed cycles : 4).[0m +333.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474643 ms (missed cycles : 3).[0m +335.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433875 ms (missed cycles : 4).[0m +336.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322100 ms (missed cycles : 3).[0m +337.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233892 ms (missed cycles : 2).[0m +338.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601978 ms (missed cycles : 3).[0m +339.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518307 ms (missed cycles : 3).[0m +340.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393117 ms (missed cycles : 3).[0m +341.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963694 ms (missed cycles : 3).[0m +342.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833879 ms (missed cycles : 3).[0m +343.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778796 ms (missed cycles : 3).[0m +344.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150974 ms (missed cycles : 2).[0m +345.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437562 ms (missed cycles : 3).[0m +346.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123163 ms (missed cycles : 2).[0m +347.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.242005 ms (missed cycles : 5).[0m +348.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050198 ms (missed cycles : 2).[0m +350.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030469 ms (missed cycles : 2).[0m +351.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317259 ms (missed cycles : 2).[0m +352.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140092 ms (missed cycles : 3).[0m +353.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433259 ms (missed cycles : 3).[0m +354.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918577 ms (missed cycles : 3).[0m +354.49sINFOobjective_server_nodeObjective preemption by a new Objective goal requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. +354.49sINFOros2_control_nodeGot request to cancel goal[0m ×2 +354.49sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 +354.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled via preemption by a new Objective goal: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786121725.83813787 seconds +354.58sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786121725.87569976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +355.00sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). +355.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255342 ms (missed cycles : 2).[0m +356.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988212 ms (missed cycles : 3).[0m +357.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030709 ms (missed cycles : 2).[0m +357.76sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________________________________________________________________X] +358.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702410 ms (missed cycles : 3).[0m +359.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152688 ms (missed cycles : 2).[0m +361.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818009 ms (missed cycles : 2).[0m +362.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411696 ms (missed cycles : 2).[0m +363.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639550 ms (missed cycles : 3).[0m +364.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808574 ms (missed cycles : 3).[0m +365.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. +365.08sERRORobjective_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: 1786121736.37662125 seconds +365.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846452 ms (missed cycles : 4).[0m +365.64sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786121736.93748474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +366.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146621 ms (missed cycles : 2).[0m +367.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847354 ms (missed cycles : 3).[0m +368.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] +368.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945723 ms (missed cycles : 3).[0m +369.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061145 ms (missed cycles : 3).[0m +370.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m +371.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842358 ms (missed cycles : 2).[0m +372.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500079 ms (missed cycles : 2).[0m +373.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478363 ms (missed cycles : 3).[0m +374.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300552 ms (missed cycles : 2).[0m +375.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070471 ms (missed cycles : 4).[0m +376.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522747 ms (missed cycles : 2).[0m +378.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699167 ms (missed cycles : 3).[0m +379.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.997866 ms (missed cycles : 5).[0m +380.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.982344 ms (missed cycles : 6).[0m +381.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162964 ms (missed cycles : 4).[0m +382.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241091 ms (missed cycles : 3).[0m +383.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209332 ms (missed cycles : 3).[0m +384.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693214 ms (missed cycles : 2).[0m +385.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956446 ms (missed cycles : 3).[0m +386.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120335 ms (missed cycles : 2).[0m +387.68sINFOros2_control_nodeMuJoCo sim: 1.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +387.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236618 ms (missed cycles : 3).[0m +388.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748634 ms (missed cycles : 3).[0m +389.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688057 ms (missed cycles : 3).[0m +390.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133087 ms (missed cycles : 3).[0m +392.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579186 ms (missed cycles : 2).[0m +393.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487825 ms (missed cycles : 2).[0m +394.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211396 ms (missed cycles : 2).[0m +395.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913944 ms (missed cycles : 3).[0m +396.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410667 ms (missed cycles : 3).[0m +396.66sINFOobjective_server_nodePlanning for 32 path waypoints. ×2 +397.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840324 ms (missed cycles : 2).[0m +398.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838988 ms (missed cycles : 4).[0m +399.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955433 ms (missed cycles : 3).[0m +400.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806934 ms (missed cycles : 3).[0m +401.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415862 ms (missed cycles : 3).[0m +402.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572755 ms (missed cycles : 2).[0m +404.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632760 ms (missed cycles : 4).[0m +405.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919593 ms (missed cycles : 3).[0m +406.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426598 ms (missed cycles : 3).[0m +407.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445122 ms (missed cycles : 2).[0m +408.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152788 ms (missed cycles : 3).[0m +409.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720619 ms (missed cycles : 3).[0m +410.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278225 ms (missed cycles : 4).[0m +411.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591543 ms (missed cycles : 2).[0m +412.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991000 ms (missed cycles : 4).[0m +413.03sINFOobjective_server_nodePlanning for 39 path waypoints. +413.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277242 ms (missed cycles : 4).[0m +414.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255358 ms (missed cycles : 3).[0m +415.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313024 ms (missed cycles : 3).[0m +417.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762468 ms (missed cycles : 2).[0m +418.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321013 ms (missed cycles : 2).[0m +419.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191099 ms (missed cycles : 3).[0m +420.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621693 ms (missed cycles : 3).[0m +421.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203308 ms (missed cycles : 3).[0m +422.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968818 ms (missed cycles : 3).[0m +423.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046154 ms (missed cycles : 4).[0m +424.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031071 ms (missed cycles : 3).[0m +425.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605764 ms (missed cycles : 3).[0m +426.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322516 ms (missed cycles : 3).[0m +427.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198893 ms (missed cycles : 3).[0m +428.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681076 ms (missed cycles : 3).[0m +430.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435224 ms (missed cycles : 3).[0m +431.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280410 ms (missed cycles : 4).[0m +432.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765847 ms (missed cycles : 2).[0m +433.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219133 ms (missed cycles : 3).[0m +434.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217098 ms (missed cycles : 3).[0m +435.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461880 ms (missed cycles : 3).[0m +436.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731176 ms (missed cycles : 3).[0m +437.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001364 ms (missed cycles : 2).[0m +438.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309487 ms (missed cycles : 3).[0m +438.77sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786121810.06764078 seconds +439.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786121810.62877035 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +439.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771783 ms (missed cycles : 3).[0m +440.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976894 ms (missed cycles : 3).[0m +441.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053129 ms (missed cycles : 4).[0m +442.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207609 ms (missed cycles : 2).[0m +443.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786121814.99886537 seconds +443.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287972 ms (missed cycles : 2).[0m +444.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786121815.57326269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +444.66sINFOobjective_server_nodeFound path in 0 iterations (5.11e-07 s). +444.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178416 ms (missed cycles : 3).[0m +445.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249941 ms (missed cycles : 2).[0m +447.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697227 ms (missed cycles : 4).[0m +447.69sINFOros2_control_nodeMuJoCo sim: 1.18% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +448.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664622 ms (missed cycles : 2).[0m +449.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830430 ms (missed cycles : 3).[0m +450.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383718 ms (missed cycles : 3).[0m +451.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996875 ms (missed cycles : 3).[0m +452.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396267 ms (missed cycles : 3).[0m +453.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051048 ms (missed cycles : 3).[0m +454.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585626 ms (missed cycles : 4).[0m +455.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740810 ms (missed cycles : 3).[0m +457.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742049 ms (missed cycles : 3).[0m +458.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3).[0m +459.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614957 ms (missed cycles : 4).[0m +460.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555462 ms (missed cycles : 3).[0m +461.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190029 ms (missed cycles : 2).[0m +462.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700462 ms (missed cycles : 2).[0m +463.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819666 ms (missed cycles : 3).[0m +464.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761182 ms (missed cycles : 2).[0m +465.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129878 ms (missed cycles : 4).[0m +466.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040556 ms (missed cycles : 2).[0m +467.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802693 ms (missed cycles : 3).[0m +468.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680676 ms (missed cycles : 3).[0m +469.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954975 ms (missed cycles : 2).[0m +470.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048841 ms (missed cycles : 2).[0m +471.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838746 ms (missed cycles : 2).[0m +472.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.995008 ms (missed cycles : 4).[0m +474.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489601 ms (missed cycles : 2).[0m +475.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935883 ms (missed cycles : 5).[0m +476.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215425 ms (missed cycles : 2).[0m +477.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518480 ms (missed cycles : 2).[0m +478.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178695 ms (missed cycles : 3).[0m +479.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541142 ms (missed cycles : 2).[0m +481.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047413 ms (missed cycles : 4).[0m +482.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663303 ms (missed cycles : 3).[0m +483.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155716 ms (missed cycles : 4).[0m +484.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048047 ms (missed cycles : 4).[0m +485.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971112 ms (missed cycles : 2).[0m +486.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243648 ms (missed cycles : 4).[0m +487.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676002 ms (missed cycles : 3).[0m +488.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248131 ms (missed cycles : 3).[0m +489.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815644 ms (missed cycles : 2).[0m +490.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576834 ms (missed cycles : 3).[0m +491.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221307 ms (missed cycles : 3).[0m +492.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013226 ms (missed cycles : 4).[0m +493.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.162152 ms (missed cycles : 5).[0m +495.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091361 ms (missed cycles : 2).[0m +496.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735314 ms (missed cycles : 3).[0m +497.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621878 ms (missed cycles : 4).[0m +498.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490555 ms (missed cycles : 4).[0m +499.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433864 ms (missed cycles : 3).[0m +500.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376001 ms (missed cycles : 4).[0m +501.05sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786121872.34340930 seconds +501.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740056 ms (missed cycles : 3).[0m +501.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786121872.91456175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +502.00sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). +502.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836254 ms (missed cycles : 3).[0m +503.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376192 ms (missed cycles : 3).[0m +504.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878552 ms (missed cycles : 3).[0m +505.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315656 ms (missed cycles : 2).[0m +506.40sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). +506.43sINFOobjective_server_nodePath shortcutter: [X__________________X] +506.47sINFOobjective_server_nodeFound path in 0 iterations (1.158e-06 s). +506.51sINFOobjective_server_nodePath shortcutter: [X_____________________X] +506.55sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). +506.61sINFOobjective_server_nodePath shortcutter: [X_________________________X] +506.66sINFOobjective_server_nodeFound path in 0 iterations (1.291e-06 s). +506.83sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] +506.88sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). +507.09sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] +507.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426764 ms (missed cycles : 3).[0m +507.17sINFOobjective_server_nodeFound path in 29 iterations (0.0395622 s). +507.52sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X_____X] +507.59sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). +507.69sINFOros2_control_nodeMuJoCo sim: 1.15% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +508.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808099 ms (missed cycles : 3).[0m +508.14sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +508.20sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). +508.73sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +509.00sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +509.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480707 ms (missed cycles : 3).[0m +510.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507540 ms (missed cycles : 2).[0m +511.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615996 ms (missed cycles : 2).[0m +512.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096266 ms (missed cycles : 2).[0m +513.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298421 ms (missed cycles : 2).[0m +514.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877166 ms (missed cycles : 3).[0m +515.00sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786121886.30098295 seconds +515.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.408937 ms (missed cycles : 4).[0m +515.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786121886.89637995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +516.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786121887.59649587 seconds +516.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724202 ms (missed cycles : 2).[0m +516.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786121888.15466666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +517.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786121888.67478490 seconds +517.62sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +518.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580957 ms (missed cycles : 3).[0m +518.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162438 ms (missed cycles : 2).[0m +519.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.652994 ms (missed cycles : 4).[0m +520.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114405 ms (missed cycles : 3).[0m +522.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883550 ms (missed cycles : 2).[0m +523.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860801 ms (missed cycles : 2).[0m +523.31sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.32sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.33sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.33sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.34sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.35sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.35sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.36sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.37sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.38sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.39sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.39sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.40sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] +523.44sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.44sERRORweb_video_auth_proxy-35process has died [pid 9562, 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']. +523.45sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.46sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.46sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.47sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] +523.51sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.51sERRORweb_bridge_auth_proxy-34process has died [pid 9561, 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']. +523.52sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.53sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.53sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.53sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.54sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.54sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.55sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.55sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] +523.58sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] +523.61sINFOvideo_server-33process has finished cleanly [pid 9560] +523.62sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] +523.65sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] +523.69sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] +523.72sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] +523.74sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] +523.77sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] +523.80sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] +523.83sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] +523.86sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] +523.88sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9557] +523.89sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] +523.92sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] +523.96sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] +523.98sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] +523.99sERRORmove_group-21process has died [pid 9543, 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_jknmpxsp --params-file /tmp/launch_params_ck4bsw2r --params-file /tmp/launch_params_in4ifdlz --params-file /tmp/launch_params_nm08btur --params-file /tmp/launch_params_9dawj599 --params-file /tmp/launch_params_ahkzg6pi']. +523.99sINFOui_teleop_bridge-30process has finished cleanly [pid 9554] +523.99sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system +523.99sINFOcomponent_container_mt-28process has finished cleanly [pid 9552] +524.01sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +524.03sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] +524.03sINFOexecute_objective_bridge-29process has finished cleanly [pid 9553] +524.05sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +524.07sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +524.09sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +524.11sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +524.14sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +524.14sINFOvideo_server2026/08/07 16:58:14 INF shutting down gracefully +524.14sINFOvideo_server2026/08/07 16:58:14 INF [WebRTC] closing +524.14sINFOvideo_server2026/08/07 16:58:14 INF [RTSP] closing +524.14sINFOvideo_server2026/08/07 16:58:14 INF waiting for running hooks +524.14sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +524.14sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +524.14sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +524.14sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +524.14sINFOcomponent_container_mtStopping planning scene monitor[0m +524.14sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +524.14sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +524.15sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system +524.15sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +524.15sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +524.15sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +524.15sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +524.15sERRORmove_groupwhat(): context cannot be slept with because it's invalid +524.15sERRORmove_groupStack trace (most recent call last) in thread 10175: +524.15sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +524.15sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcaacc52a63, in __clone +524.15sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcaacbc5aa3, in +524.15sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcaace57db3, in +524.15sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fcaad5c3ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +524.15sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcaad1e9620, in rclcpp::Rate::sleep() +524.15sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcaad12bd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +524.15sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcaad0ed087, in +524.15sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcaace26390, in __cxa_throw +524.15sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcaace10a54, in std::terminate() +524.15sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcaace260d9, in +524.15sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcaace10ff4, in +524.15sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcaacb518fe, in abort +524.15sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcaacb6e27d, in raise +524.15sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcaacbc7b2c, in pthread_kill +524.15sERRORmove_groupAborted (Signal sent by tkill() 9543 0) +524.15sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +524.15sINFOros2_control_nodeShutdown request received....[0m +524.15sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +524.15sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +524.15sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +524.15sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +524.15sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +524.15sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +524.15sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +524.15sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +524.15sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +524.15sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +524.15sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +524.15sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +524.15sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +524.15sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +524.15sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +524.15sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +524.15sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +524.15sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +524.15sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +524.15sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +524.15sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +524.15sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +524.15sINFOros2_control_nodeShutting down the controller manager.[0m +524.16sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +524.16sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +524.16sERRORodom_qos_relay.pyTraceback (most recent call last): +524.16sINFOodom_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> +524.16sINFOodom_qos_relay.pymain() +524.16sINFOodom_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 +524.16sINFOodom_qos_relay.pyrclpy.spin(node) +524.16sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +524.16sINFOodom_qos_relay.pyexecutor.spin_once() +524.16sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +524.17sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +524.17sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +524.17sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +524.17sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +524.17sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +524.17sINFOodom_qos_relay.pyreturn next(self._cb_iter) +524.17sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +524.17sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +524.17sINFOodom_qos_relay.pyraise ExternalShutdownException() +524.17sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +524.17sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 +524.18sINFOros2_control_nodeAsync messages lost 0[0m ×2 +524.18sINFOros2_control_nodepublish_async_failures_ 3[0m +524.18sINFOros2_control_nodepublish_async_failures_ 2[0m +524.35sERRORcomponent_container_isolated-2process has died [pid 9429, 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_5blxguk3 --params-file /tmp/launch_params_gpzyn3lv -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +524.85sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9547] +524.87sERRORcomponent_container_isolated-1process has died [pid 9428, 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_5blxguk3 --params-file /tmp/launch_params_84mci_4g -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +524.88sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9546] +524.94sINFOobjective_server_node[2026-08-07 16:58:16.233] [moveit_pro_license] [info] +524.94sINFOobjective_server_node* Application has successfully terminated +524.95sINFOwaypoint_manager_node-23process has finished cleanly [pid 9545] +524.96sINFOparameter_manager_node-22process has finished cleanly [pid 9544] +524.97sINFOcomponent_container_mt-27process has finished cleanly [pid 9551] +525.00sINFOobjective_server_node_main-26process has finished cleanly [pid 9548] +525.00sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system +525.03sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9435] +525.05sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9434] +525.11sINFOstatic_transform_publisher-4process has finished cleanly [pid 9431] +525.13sINFOstatic_transform_publisher-3process has finished cleanly [pid 9430] +525.14sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9433] +525.15sERRORodom_qos_relay.py-5process has died [pid 9432, 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']. +526.65sINFOweb_bridge-31process has finished cleanly [pid 9555] +526.65sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system +526.70sINFOros2_control_node-9process has finished cleanly [pid 9436] +535.07sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-07-16-58-23-027304-f9a38877cebb-10510 ×2 +549.02sINFOstatic_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' +549.02sINFOstatic_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' +549.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +549.04sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +549.05sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +549.05sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +549.06sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +549.06sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +549.06sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +549.07sINFOcontroller_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. +549.07sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +549.09sINFOcontroller_serverCreating controller server +549.10sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +549.10sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +549.10sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +549.10sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +549.11sINFOlocal_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. +549.12sINFOlocal_costmap.local_costmapCreating Costmap +549.12sINFOmap_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. +549.12sINFOmap_serverCreating +549.13sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +549.16sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +549.16sINFOcontroller_managerupdate rate is 600 Hz +549.16sINFOcontroller_managerOverruns handling is : enabled +549.16sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +549.16sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +549.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.756769 ms (missed cycles : 3). +549.24sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +549.26sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +549.26sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +549.26sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +549.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +549.26sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +549.30sINFOros2_control_node-9process started with pid [10568] ×2 +549.30sINFOmove_group-21process started with pid [10660] ×2 +549.30sINFOparameter_manager_node-22process started with pid [10661] ×2 +549.30sINFOwaypoint_manager_node-23process started with pid [10662] ×2 +549.30sINFOmove_joint_resampler_node-24process started with pid [10683] ×2 +549.30sINFOmove_end_effector_resampler_node-25process started with pid [10684] ×2 +549.30sINFOobjective_server_node_main-26process started with pid [10685] ×2 +549.31sINFOcomponent_container_mt-27process started with pid [10686] ×2 +549.31sINFOcomponent_container_mt-28process started with pid [10688] ×2 +549.31sINFOexecute_objective_bridge-29process started with pid [10689] ×2 +549.31sINFOui_teleop_bridge-30process started with pid [10690] ×2 +549.31sINFOweb_bridge-31process started with pid [10691] ×2 +549.31sINFOtf2_web_republisher_node-32process started with pid [10692] ×2 +549.31sINFOsmoother_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. +549.31sINFOvideo_server-33process started with pid [10693] ×2 +549.31sINFOweb_bridge_auth_proxy-34process started with pid [10694] ×2 +549.32sINFOweb_video_auth_proxy-35process started with pid [10695] ×2 +549.33sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +549.33sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +549.33sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +549.33sINFOcomponent_container_isolated-1process started with pid [10560] ×2 +549.33sINFOcomponent_container_isolated-2process started with pid [10561] ×2 +549.33sINFOstatic_transform_publisher-3process started with pid [10562] ×2 +549.33sINFOstatic_transform_publisher-4process started with pid [10563] ×2 +549.33sINFOodom_qos_relay.py-5process started with pid [10564] ×2 +549.33sINFOforward_stereo_publisher.py-6process started with pid [10565] ×2 +549.33sINFOscan_to_scan_filter_chain-7process started with pid [10566] ×2 +549.33sINFOscan_to_scan_filter_chain-8process started with pid [10567] ×2 +549.33sINFOros2-10process started with pid [10649] ×2 +549.33sINFOsmoother_serverCreating smoother server +549.33sINFOros2-11process started with pid [10650] ×2 +549.33sINFOros2-12process started with pid [10651] ×2 +549.35sINFOros2-13process started with pid [10652] ×2 +549.35sINFOros2-14process started with pid [10653] ×2 +549.35sINFOros2-15process started with pid [10654] ×2 +549.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +549.35sINFOros2-16process started with pid [10655] ×2 +549.35sINFOlifecycle_manager_localizationCreating +549.35sINFOros2-17process started with pid [10656] ×2 +549.35sINFOros2-18process started with pid [10657] ×2 +549.35sINFOros2-19process started with pid [10658] ×2 +549.36sINFOros2-20process started with pid [10659] ×2 +549.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +549.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +549.38sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +549.39sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +549.39sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +549.39sINFOmap_serverConfiguring +549.41sINFOplanner_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. +549.44sINFOplanner_serverCreating +549.46sINFOglobal_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. +549.47sINFOglobal_costmap.global_costmapCreating Costmap +549.48sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +549.48sINFOamclConfiguring +549.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.756769 ms (missed cycles : 3).[0m ×2 +549.48sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +549.48sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +549.49sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +549.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +549.49sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +549.49sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +549.49sINFOmap_serverActivating +549.49sINFOmap_serverCreating bond (map_server) to lifecycle manager. +549.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +549.52sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +549.52sINFObehavior_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. +549.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +549.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +549.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +549.58sINFOcontroller_managerReceived robot description from topic. +549.58sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +549.58sINFOrobot_state_publisherRobot initialized +549.61sINFOlifecycle_manager_localizationServer map_server connected with bond. +549.61sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +549.61sINFOamclActivating +549.61sINFOamclSubscribed to initial_pose_topic: /initialpose +549.61sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +549.62sINFOamclSubscribed to map_topic: /map +549.62sINFOamclSubscribed to scan_topic: /scan_merged +549.62sINFObt_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. +549.62sINFOamclCreated reinitialize_global_localization service +549.62sINFOamclCreated request_nomotion_update service +549.63sINFOamclA new map was received +549.63sINFOamclInitializing particle filter instance +549.64sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +549.65sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +549.66sINFObt_navigatorCreating +549.66sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +549.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +549.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +549.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +549.70sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +549.70sINFOwaypoint_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. +549.71sINFOwaypoint_followerCreating +549.72sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +549.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +549.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +549.76sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +549.77sINFOvelocity_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. +549.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +549.78sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +549.78sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +549.81sINFOlifecycle_manager_navigationCreating +549.83sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +549.87sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +549.87sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +549.87sINFOcontroller_serverConfiguring controller interface +549.87sINFOcontroller_servergetting progress checker plugins.. +549.87sINFOcontroller_servergetting goal checker plugins.. +549.87sINFOcontroller_serverController frequency set to 20.0000Hz +549.87sINFOlocal_costmap.local_costmapConfiguring +549.88sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +549.91sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +549.94sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +549.94sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +549.94sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +549.99sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +549.99sINFOcontroller_serverController Server has progress_checker progress checkers available. +550.00sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +550.00sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +550.01sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +550.03sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +550.03sWARNlaser_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. +550.03sWARNlaser_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. +550.04sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +550.04sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +550.05sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +550.05sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +550.05sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +550.05sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +550.06sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +550.06sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +550.07sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +550.07sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +550.08sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +550.08sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +550.08sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +550.08sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +550.08sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +550.09sINFOcontroller_serverOptimizer reset ×2 +550.10sINFOcontroller_serverController Server has FollowPath controllers available. +550.13sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.639676 seconds +550.13sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +550.13sINFOsmoother_serverConfiguring smoother server +550.14sINFOmove_groupLoaded robot model in 0.639676 seconds[0m ×2 +550.14sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +550.15sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +550.15sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +550.15sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +550.18sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +550.19sINFOplanner_serverConfiguring +550.19sINFOglobal_costmap.global_costmapConfiguring +550.19sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +550.20sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +550.20sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +550.20sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +550.21sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +550.24sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +550.24sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +550.25sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +550.25sINFOwaypoint_manager_nodeLoaded robot model in 0.348661 seconds[0m ×2 +550.28sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +550.28sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +550.28sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +550.29sINFOplanner_serverPlanner Server has GridBased planners available. +550.33sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +550.33sINFObehavior_serverConfiguring +550.33sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +550.34sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +550.35sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +550.36sINFOvideo_server2026/08/07 16:58:41 INF MediaMTX v1.19.3, linux, amd64 ×2 +550.36sINFOvideo_server2026/08/07 16:58:41 INF configuration loaded from /tmp/moveit-webrtc-ouib_n89/mediamtx.yml ×2 +550.36sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +550.37sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +550.37sINFOvideo_server2026/08/07 16:58:41 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +550.38sINFOvideo_server2026/08/07 16:58:41 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +550.38sINFObehavior_serverConfiguring spin +550.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568466 ms (missed cycles : 2). +550.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568466 ms (missed cycles : 2).[0m ×2 +550.40sINFObehavior_serverConfiguring backup +550.40sINFObehavior_serverConfiguring drive_on_heading +550.41sINFObehavior_serverConfiguring assisted_teleop +550.43sINFObehavior_serverConfiguring wait +550.44sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +550.44sINFObt_navigatorConfiguring +550.46sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +550.47sWARNbt_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 +550.61sINFOamclParticle filter initialization completed +550.61sINFOamclInitializing particles from estimated pose and covariance +550.61sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +550.61sINFOamclThe bond connection to the lifecycle manager is now fully formed +550.62sINFOlifecycle_manager_localizationServer amcl connected with bond. +550.62sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +550.62sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +550.62sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +550.70sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +550.70sINFOwaypoint_followerConfiguring +550.73sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +550.74sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +550.74sINFOvelocity_smootherConfiguring velocity smoother +550.76sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +550.76sINFOcontroller_serverActivating +550.76sINFOlocal_costmap.local_costmapActivating +550.76sINFOlocal_costmap.local_costmapChecking transform +550.76sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×8 +550.95sWARNwaypoint_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. +550.95sWARNwaypoint_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. +550.95sWARNwaypoint_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. +550.96sWARNwaypoint_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. +550.96sWARNwaypoint_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. +550.96sWARNwaypoint_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. +550.97sWARNwaypoint_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. +550.97sWARNwaypoint_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. +550.97sWARNwaypoint_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. +550.97sWARNwaypoint_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. +550.97sWARNwaypoint_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. +550.97sWARNwaypoint_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. +550.97sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +550.97sWARNwaypoint_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. +550.98sWARNwaypoint_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. +550.98sWARNwaypoint_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. +550.98sWARNwaypoint_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. +550.98sWARNwaypoint_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. +550.98sWARNwaypoint_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. +550.98sWARNwaypoint_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. +550.98sWARNmove_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. +550.98sWARNmove_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. +550.98sWARNwaypoint_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. +550.99sWARNmove_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. +550.99sWARNmove_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. +550.99sWARNmove_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. +550.99sWARNmove_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. +550.99sWARNmove_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. +550.99sWARNmove_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. +550.99sWARNmove_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. +550.99sWARNmove_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. +550.99sWARNwaypoint_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. +550.99sWARNwaypoint_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. +550.99sWARNwaypoint_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. +550.99sWARNwaypoint_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. +551.00sWARNwaypoint_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. +551.00sWARNwaypoint_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. +551.00sWARNwaypoint_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. +551.00sWARNwaypoint_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. +551.38sINFOmove_group[2026-08-07 16:58:42.675] [moveit_pro_license] [info] ×2 +551.40sINFOwaypoint_manager_node[2026-08-07 16:58:42.694] [moveit_pro_license] [info] ×2 +551.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847077 ms (missed cycles : 3). +551.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847077 ms (missed cycles : 3).[0m ×2 +551.66sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +551.82sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +551.83sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +552.07sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +552.07sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +552.08sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +552.08sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +552.08sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +552.09sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +552.09sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +552.09sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +552.09sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +552.09sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +552.09sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +552.73sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +552.73sINFOcontroller_managerActivating component 'ur_mujoco_control'. +552.73sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +552.73sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +552.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668206 ms (missed cycles : 2). +552.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668206 ms (missed cycles : 2).[0m ×2 +552.76sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +552.76sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +552.92sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +552.92sINFOcontroller_managerLoading controller 'velocity_force_controller' +553.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +553.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +553.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +553.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +553.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +553.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +553.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +553.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +553.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +553.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +553.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +553.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +553.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +553.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +553.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +553.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +553.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +553.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +553.00sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +553.01sINFOobjective_server_node[2026-08-07 16:58:44.309] [moveit_pro_license] [info] ×2 +553.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +553.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +553.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +553.02sINFOstreaming_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) +553.03sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +553.04sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 +553.04sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 [0m ×2 +553.08sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +553.08sINFOobjective_server_nodeLoaded robot model in 0.0258745 seconds[0m ×2 +553.08sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +553.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +553.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +553.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +553.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +553.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +553.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +553.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +553.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +553.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +553.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +553.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +553.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +553.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +553.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +553.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +553.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +553.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +553.16sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +553.20sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +553.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +553.23sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +553.25sINFOstreaming_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) +553.58sINFOros2_control_node[2026-08-07 16:58:44.875] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +553.58sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +553.58sINFOros2_control_node[2026-08-07 16:58:44.878] [info] Controller state will be published at 10 Hz. ×2 +553.58sWARNobjective_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. +553.58sWARNobjective_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. +553.58sWARNobjective_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. +553.58sWARNobjective_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. +553.58sWARNobjective_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. +553.58sWARNobjective_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. +553.58sINFOros2_control_node[2026-08-07 16:58:44.879] [info] VelocityForceController 'on_configure' succeeded. ×2 +553.59sWARNobjective_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. +553.59sWARNobjective_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. +553.59sWARNobjective_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. +553.59sWARNobjective_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. +553.61sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +553.61sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +553.80sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +553.90sINFOmove_groupMoveGroup debug mode is ON +553.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852011 ms (missed cycles : 2). +553.92sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +553.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852011 ms (missed cycles : 2).[0m ×2 +553.92sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +553.92sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 +553.92sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 [0m ×2 +553.95sINFOros2-17process has finished cleanly [pid 10656] ×2 +553.96sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786121924.145 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +553.98sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +553.98sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +553.99sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +553.99sINFOcontroller_managerSuccessfully switched controllers! ×7 +553.99sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +554.07sINFOcomponent_container_mtLoaded robot model in 0.447636 seconds[0m ×2 +554.08sINFOmove_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
********************************************************
+554.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +554.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +554.35sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 +554.35sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 [0m ×2 +554.35sINFOros2-11process has finished cleanly [pid 10650] ×2 +554.43sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +554.43sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +554.43sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +554.44sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +554.45sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +554.45sWARNplanning_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. +554.45sWARNplanning_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. +554.45sWARNplanning_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. +554.45sWARNplanning_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. +554.46sWARNplanning_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. +554.46sWARNplanning_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. +554.46sWARNplanning_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. +554.46sWARNplanning_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. +554.46sWARNplanning_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. +554.46sWARNplanning_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. +554.46sWARNplanning_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. +554.46sWARNplanning_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. +554.46sWARNplanning_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. +554.46sWARNplanning_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. +554.46sWARNplanning_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. +554.46sWARNplanning_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. +554.46sWARNplanning_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. +554.46sWARNplanning_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. +554.47sWARNplanning_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. +554.47sWARNplanning_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. +554.47sWARNplanning_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. +554.47sWARNplanning_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. +554.47sWARNplanning_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. +554.47sWARNplanning_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. +554.47sWARNplanning_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. +554.47sWARNplanning_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. +554.47sWARNplanning_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. +554.47sWARNplanning_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. +554.57sINFOamclParticle filter update iteration stats: 2198 particles 723 points - 3.644ms +554.64sINFOcomponent_container_mt[2026-08-07 16:58:45.938] [moveit_pro_license] [info] ×2 +554.76sINFOlocal_costmap.local_costmapstart +554.77sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +554.77sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +554.80sINFOros2-12process has finished cleanly [pid 10651] ×2 +554.85sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 +554.85sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 [0m ×2 +554.86sWARNcontroller_serverParameter controller_server.verbose not found +554.86sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +554.86sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +554.94sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +554.94sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +554.97sINFOlifecycle_manager_navigationServer controller_server connected with bond. +554.97sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +554.97sINFOsmoother_serverActivating +554.97sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +554.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901645 ms (missed cycles : 3). +554.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901645 ms (missed cycles : 3).[0m ×2 +555.07sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +555.07sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +555.08sINFOplanner_serverActivating +555.08sINFOglobal_costmap.global_costmapActivating +555.08sINFOglobal_costmap.global_costmapChecking transform +555.08sINFOglobal_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 1786121926.355525 but the earliest data is at time 1786121926.745047, when looking up transform from frame [ridgeback_base_link] to frame [map] +555.29sINFOros2_control_node[2026-08-07 16:58:46.591] [info] Controller state will be published at 20 Hz. ×2 +555.30sINFOros2_control_node[2026-08-07 16:58:46.592] [info] JointVelocityController 'on_configure' succeeded. ×2 +555.58sINFOglobal_costmap.global_costmapstart +555.64sINFOros2-20process has finished cleanly [pid 10659] ×2 +555.65sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +555.65sINFOcontroller_managerLoading controller 'joint_velocity_controller' +555.65sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 +555.65sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 [0m ×2 +555.72sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +555.72sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +556.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703055 ms (missed cycles : 2). +556.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703055 ms (missed cycles : 2).[0m ×2 +556.12sINFOros2_control_node[2026-08-07 16:58:47.413] [info] Controller state will be published at 20 Hz. ×2 +556.12sINFOros2_control_node[2026-08-07 16:58:47.415] [info] JointVelocityController 'on_configure' succeeded. ×2 +556.46sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +556.46sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +556.46sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 +556.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 [0m ×2 +556.48sINFOros2-19process has finished cleanly [pid 10658] ×2 +556.56sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +556.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +556.56sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +556.56sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +556.56sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +556.56sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +556.57sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +556.63sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +556.63sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +556.73sINFOlifecycle_manager_navigationServer planner_server connected with bond. +556.73sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +556.74sINFObehavior_serverActivating +556.74sINFObehavior_serverActivating spin +556.74sINFObehavior_serverActivating backup +556.74sINFObehavior_serverActivating drive_on_heading +556.74sINFObehavior_serverActivating assisted_teleop +556.74sINFObehavior_serverActivating wait +556.74sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +556.84sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +556.84sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +556.84sINFObt_navigatorActivating +556.94sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +556.98sINFOros2-16process has finished cleanly [pid 10655] ×2 +556.98sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +556.98sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +556.98sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 +556.98sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 [0m ×2 +557.05sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +557.05sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +557.05sINFOwaypoint_followerActivating +557.05sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +557.05sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +557.05sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +557.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218727 ms (missed cycles : 2). +557.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218727 ms (missed cycles : 2).[0m ×2 +557.16sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +557.16sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +557.16sINFOvelocity_smootherActivating +557.16sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +557.26sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +557.26sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +557.26sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +557.44sINFOros2_control_node[2026-08-07 16:58:48.734] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +557.44sINFOros2_control_node[2026-08-07 16:58:48.737] [info] Controller state will be published at 10 Hz. ×2 +557.44sINFOros2_control_node[2026-08-07 16:58:48.738] [info] VelocityForceController 'on_configure' succeeded. ×2 +557.78sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +557.78sINFOcontroller_managerLoading controller 'vacuum_gripper' +557.79sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 +557.79sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 [0m ×2 +557.81sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +557.81sINFOros2-18process has finished cleanly [pid 10657] ×2 +557.85sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +557.85sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +557.85sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +557.85sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +557.86sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +558.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145871 ms (missed cycles : 2). +558.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145871 ms (missed cycles : 2).[0m ×2 +558.21sINFOros2-14process has finished cleanly [pid 10653] ×2 +558.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +558.21sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +558.21sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 +558.21sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 [0m ×2 +558.28sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +558.28sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +558.28sINFOplatform_velocity_controller_nav2configure successful +558.63sINFOros2-15process has finished cleanly [pid 10654] ×2 +558.64sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +558.64sINFOcontroller_managerLoading controller 'platform_velocity_controller' +558.64sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 +558.65sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 [0m ×2 +558.72sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +558.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +558.73sINFOplatform_velocity_controllerconfigure successful +558.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +558.73sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +559.08sINFOros2-13process has finished cleanly [pid 10652] ×2 +559.09sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +559.09sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +559.09sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 +559.09sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7opiiawc --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_trllsfj9 --params-file /tmp/launch_params_j2m67z71 [0m ×2 +559.15sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +559.15sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +559.16sINFOforce_torque_sensor_broadcasterconfigure successful +559.16sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +559.16sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +559.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939115 ms (missed cycles : 2). +559.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939115 ms (missed cycles : 2).[0m ×2 +559.50sINFOros2-10process has finished cleanly [pid 10649] ×2 +560.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950215 ms (missed cycles : 3). +560.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950215 ms (missed cycles : 3).[0m ×2 +561.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2). +561.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2).[0m ×2 +562.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). +562.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 +563.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). +563.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 +564.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). +564.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 +564.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +564.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +564.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +564.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 +565.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +565.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 +565.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). +565.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 +565.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +565.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 +566.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). +566.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 +566.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +566.56sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +566.56sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +566.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +566.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +566.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +566.59sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +566.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 +567.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +567.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[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 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 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 2.490854 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.37sINFOmove_groupClearing octomap...[0m ×2 + 3.37sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_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 + 5.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 6.92sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.28sINFOjoint_trajectory_controllerReceived new action goal + 7.28sINFOjoint_trajectory_controllerAccepted new action goal + 7.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 24 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950215 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 2.50sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.41sINFOmove_groupClearing octomap...[0m ×2 + 4.41sINFOmove_groupOctomap cleared.[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 6.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 6.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.37sINFOmove_groupClearing octomap...[0m ×2 + 3.37sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_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 + 5.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 6.92sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 94 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950215 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 2.50sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.41sINFOmove_groupClearing octomap...[0m ×2 + 4.41sINFOmove_groupOctomap cleared.[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 6.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 6.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.37sINFOmove_groupClearing octomap...[0m ×2 + 3.37sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_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 + 5.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 6.92sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.37sINFOmove_groupClearing octomap...[0m ×2 + 3.37sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_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 + 5.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.37sINFOmove_groupClearing octomap...[0m ×2 + 3.37sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_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 + 5.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490854 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.37sINFOmove_groupClearing octomap...[0m ×2 + 3.37sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_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 + 5.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 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 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[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 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 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 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[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 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546660 ms (missed cycles : 3).[0m ×2 + 0.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588120 ms (missed cycles : 3).[0m ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140435 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121935.97176886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121935.98194718 seconds ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121936.54098582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121936.55110216 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222430 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121937.10283637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121937.25364733 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908396 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121937.83519197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121937.89548349 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121938.45739055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928162 ms (missed cycles : 3).[0m ×2 + 5.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.85sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843440 ms (missed cycles : 2).[0m ×2 | ||||