69
Total objective tests
18
Objectives passed
0
Objectives failed
51
Objectives skipped
22.4s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 31.9s | 12 errors · 305 warnings · 1223 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/2026-08-07-16-59-00-562409-b9f31c224e1e-9402 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.90sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' + 13.92sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 13.98sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.99sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.99sINFOcontroller_managerupdate rate is 600 Hz + 13.99sINFOcontroller_managerOverruns handling is : enabled + 13.99sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 14.00sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 14.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.00sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.02sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.02sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805047 ms (missed cycles : 2). + 14.02sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.02sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.05sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.09sINFOcontroller_serverCreating controller server + 14.11sINFOlocal_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. + 14.12sINFOlocal_costmap.local_costmapCreating Costmap + 14.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.18sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.22sINFOros2_control_node-9process started with pid [9460] ×2 + 14.22sINFOmove_group-21process started with pid [9567] ×2 + 14.22sINFOparameter_manager_node-22process started with pid [9568] ×2 + 14.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.25sINFOwaypoint_manager_node-23process started with pid [9569] ×2 + 14.25sINFOmove_joint_resampler_node-24process started with pid [9573] ×2 + 14.25sINFOmove_end_effector_resampler_node-25process started with pid [9574] ×2 + 14.25sINFOobjective_server_node_main-26process started with pid [9575] ×2 + 14.25sINFOcomponent_container_mt-27process started with pid [9576] ×2 + 14.25sINFOcomponent_container_mt-28process started with pid [9578] ×2 + 14.25sINFOexecute_objective_bridge-29process started with pid [9579] ×2 + 14.25sINFOui_teleop_bridge-30process started with pid [9582] ×2 + 14.25sINFOweb_bridge-31process started with pid [9583] ×2 + 14.25sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.26sINFOtf2_web_republisher_node-32process started with pid [9584] ×2 + 14.26sINFOvideo_server-33process started with pid [9585] ×2 + 14.26sINFOweb_bridge_auth_proxy-34process started with pid [9587] ×2 + 14.26sINFOweb_video_auth_proxy-35process started with pid [9588] ×2 + 14.26sINFOcomponent_container_isolated-1process started with pid [9452] ×2 + 14.26sINFOcomponent_container_isolated-2process started with pid [9453] ×2 + 14.26sINFOstatic_transform_publisher-3process started with pid [9454] ×2 + 14.26sINFOstatic_transform_publisher-4process started with pid [9455] ×2 + 14.26sINFOodom_qos_relay.py-5process started with pid [9456] ×2 + 14.27sINFOforward_stereo_publisher.py-6process started with pid [9457] ×2 + 14.27sINFOscan_to_scan_filter_chain-7process started with pid [9458] ×2 + 14.27sINFOscan_to_scan_filter_chain-8process started with pid [9459] ×2 + 14.27sINFOros2-10process started with pid [9538] ×2 + 14.27sINFOros2-11process started with pid [9539] ×2 + 14.27sINFOros2-12process started with pid [9540] ×2 + 14.27sINFOros2-13process started with pid [9559] ×2 + 14.27sINFOros2-14process started with pid [9560] ×2 + 14.29sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.29sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.29sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.29sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.30sINFOsmoother_serverCreating smoother server + 14.30sINFOros2-15process started with pid [9561] ×2 + 14.30sINFOros2-16process started with pid [9562] ×2 + 14.30sINFOros2-17process started with pid [9563] ×2 + 14.30sINFOros2-18process started with pid [9564] ×2 + 14.30sINFOros2-19process started with pid [9565] ×2 + 14.30sINFOros2-20process started with pid [9566] ×2 + 14.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.33sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.33sINFOmap_serverCreating + 14.36sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.37sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.38sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.38sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.40sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.43sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.44sINFOplanner_serverCreating + 14.44sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.45sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.47sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.48sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.49sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.49sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.49sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.49sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.49sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.49sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.50sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.50sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.50sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.50sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.50sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.50sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.50sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805047 ms (missed cycles : 2).[0m ×2 + 14.51sINFOglobal_costmap.global_costmapCreating Costmap + 14.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.52sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.52sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.52sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.53sINFOrobot_state_publisherRobot initialized + 14.53sINFOcontroller_managerReceived robot description from topic. + 14.53sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.54sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.54sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.54sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.56sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.57sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.58sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.58sINFOlifecycle_manager_localizationCreating + 14.58sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.58sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.59sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.59sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.60sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.62sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.62sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.62sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.63sINFOmap_serverConfiguring + 14.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.65sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.65sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.65sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.66sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.67sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.69sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.69sINFOamclConfiguring + 14.69sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.69sINFOmap_serverActivating + 14.69sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.71sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.71sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.72sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.76sINFObt_navigatorCreating + 14.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.77sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.77sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.77sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.80sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.80sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.80sINFOamclActivating + 14.80sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.81sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.81sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.81sINFOvideo_server2026/08/07 16:59:18 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.81sINFOvideo_server2026/08/07 16:59:18 INF configuration loaded from /tmp/moveit-webrtc-q_xx7xn5/mediamtx.yml ×2 + 14.81sINFOvideo_server2026/08/07 16:59:18 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.81sINFOvideo_server2026/08/07 16:59:18 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.81sINFOwaypoint_followerCreating + 14.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.82sINFOamclSubscribed to map_topic: /map + 14.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.83sINFOamclSubscribed to scan_topic: /scan_merged + 14.83sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.83sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.83sINFOamclCreated reinitialize_global_localization service + 14.83sINFOamclCreated request_nomotion_update service + 14.84sINFOamclA new map was received + 14.84sINFOamclInitializing particle filter instance + 14.86sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.87sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.87sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.325508 seconds + 14.87sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.87sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.87sINFOmove_groupLoaded robot model in 0.325508 seconds[0m ×2 + 14.87sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.87sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.90sINFOlifecycle_manager_navigationCreating + 14.92sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.92sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.92sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 14.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.93sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.96sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.96sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.96sINFOcontroller_serverConfiguring controller interface + 14.96sINFOcontroller_servergetting progress checker plugins.. + 14.97sINFOcontroller_servergetting goal checker plugins.. + 14.97sINFOcontroller_serverController frequency set to 20.0000Hz + 14.97sINFOlocal_costmap.local_costmapConfiguring + 14.99sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 15.02sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815689 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815689 ms (missed cycles : 2).[0m ×2 + 15.05sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.05sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.05sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.07sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.08sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.08sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.09sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.09sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.12sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.12sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.12sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.13sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.13sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.13sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.13sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.13sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.13sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.15sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.15sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.15sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.16sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.16sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.16sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.16sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.17sINFOcontroller_serverOptimizer reset ×2 + 15.19sINFOcontroller_serverController Server has FollowPath controllers available. + 15.20sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.20sINFOsmoother_serverConfiguring smoother server + 15.21sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.22sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.23sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.23sINFOplanner_serverConfiguring + 15.23sINFOglobal_costmap.global_costmapConfiguring + 15.24sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.26sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.26sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.26sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.27sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.32sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.32sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.33sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.37sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.37sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.38sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.39sINFOplanner_serverPlanner Server has GridBased planners available. + 15.44sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.44sINFObehavior_serverConfiguring + 15.46sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.47sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.48sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.49sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.51sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.53sINFObehavior_serverConfiguring spin + 15.56sINFObehavior_serverConfiguring backup + 15.58sINFObehavior_serverConfiguring drive_on_heading + 15.60sINFObehavior_serverConfiguring assisted_teleop + 15.60sINFOamclParticle filter initialization completed + 15.61sINFOamclInitializing particles from estimated pose and covariance + 15.61sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.63sINFObehavior_serverConfiguring wait + 15.65sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.65sINFObt_navigatorConfiguring + 15.67sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.68sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
Make sure these match your BT and there are not other sources of error codes youreported to your application + 15.71sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.71sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.71sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.71sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.72sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.73sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.73sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.75sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.75sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.75sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.75sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.76sINFOwaypoint_manager_nodeLoaded robot model in 0.45503 seconds[0m ×2 + 15.78sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.78sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.00sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 16.09sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 16.09sINFOwaypoint_followerConfiguring + 16.12sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.13sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.13sINFOvelocity_smootherConfiguring velocity smoother + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220392 ms (missed cycles : 2). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220392 ms (missed cycles : 2).[0m ×2 + 16.14sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.14sINFOcontroller_serverActivating + 16.14sINFOlocal_costmap.local_costmapActivating + 16.14sINFOlocal_costmap.local_costmapChecking transform + 16.14sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×4 + 16.23sINFOmove_group[2026-08-07 16:59:20.209] [moveit_pro_license] [info] ×2 + 16.23sINFOmove_group************************************************* ×4 + 16.23sINFOmove_group* MoveIt Pro License ×2 + 16.23sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.46sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 16.46sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.49sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.49sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.49sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.49sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.49sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.49sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.50sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.50sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.50sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.50sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.50sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.50sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.50sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.50sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.50sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.50sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.50sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.50sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.50sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.50sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.50sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.50sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.50sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.51sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.51sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.51sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.51sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.51sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.51sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.51sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.51sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.51sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.51sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.51sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.51sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.51sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.51sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.51sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.51sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.51sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.51sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.52sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.52sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.52sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.52sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.52sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.52sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.52sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.52sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.52sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.52sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.52sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.66sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.66sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.66sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.67sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.80sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 16.80sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 16.80sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 16.80sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 16.80sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 16.80sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 16.80sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 16.80sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 16.80sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.80sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 16.81sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 16.81sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 16.81sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 16.81sINFOmove_groupStarting planning scene monitor[0m ×2 + 16.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 16.81sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 16.81sINFOmove_groupListening to '/planning_scene'[0m ×2 + 16.81sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 16.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 16.81sINFOmove_groupListening to 'collision_object'[0m ×2 + 16.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 16.82sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 16.92sINFOwaypoint_manager_node[2026-08-07 16:59:20.904] [moveit_pro_license] [info] ×2 + 16.92sINFOwaypoint_manager_node************************************************* ×4 + 16.92sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.92sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.34sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.34sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.35sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.61sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.61sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.61sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.61sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.61sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.61sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.61sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.61sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.61sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.61sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.61sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.61sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.61sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.61sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.61sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.61sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.61sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.62sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.62sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.62sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.62sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.62sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.62sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.62sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.64sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.64sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.64sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 17.71sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 17.71sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 17.72sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 17.72sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 17.72sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j + 17.72sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j [0m ×2 + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.73sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.74sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573484 ms (missed cycles : 3). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573484 ms (missed cycles : 3).[0m ×2 + 17.75sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 17.75sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 17.76sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 17.76sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 17.76sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 17.76sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 17.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 17.77sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 17.77sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 17.77sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 17.77sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 17.77sINFOcontroller_managerSuccessfully switched controllers! ×7 + 17.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 17.77sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 17.77sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 17.85sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 17.87sINFOobjective_server_node[2026-08-07 16:59:21.851] [moveit_pro_license] [info] ×2 + 17.87sINFOobjective_server_node************************************************* ×4 + 17.87sINFOobjective_server_node* MoveIt Pro License ×2 + 17.87sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 17.93sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.93sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.93sINFOobjective_server_nodeLoaded robot model in 0.0212766 seconds[0m ×2 + 17.93sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 17.94sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.94sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 17.96sINFOamclParticle filter update iteration stats: 2240 particles 723 points - 7.665ms + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.00sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.03sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.03sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.03sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.03sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.03sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.03sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 18.03sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.03sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 18.04sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.04sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.09sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.09sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 18.09sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.09sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 18.10sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j + 18.10sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j [0m ×2 + 18.13sINFOros2-12process has finished cleanly [pid 9540] ×2 + 18.14sINFOlocal_costmap.local_costmapstart + 18.20sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 18.20sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 18.20sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 18.20sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 18.21sINFOplatform_velocity_controller_nav2configure successful + 18.21sINFOros2_control_nodeconfigure successful[0m ×6 + 18.24sWARNcontroller_serverParameter controller_server.verbose not found + 18.25sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 18.25sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 18.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.27sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.27sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.29sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 18.29sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 18.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.32sINFOcomponent_container_mtLoaded robot model in 0.374684 seconds[0m ×2 + 18.32sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.32sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.36sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 18.36sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 18.36sINFOsmoother_serverActivating + 18.36sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 18.41sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.41sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.47sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 18.47sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 18.47sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 18.47sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.47sINFOplanner_serverActivating + 18.47sINFOglobal_costmap.global_costmapActivating + 18.47sINFOglobal_costmap.global_costmapChecking transform + 18.47sINFOglobal_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 1786121962.424675 but the earliest data is at time 1786121962.815937, when looking up transform from frame [ridgeback_base_link] to frame [map] + 18.49sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.49sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.49sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.49sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.49sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.49sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.49sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.57sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.57sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 18.57sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.57sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 18.61sINFOros2-15process has finished cleanly [pid 9561] ×2 + 18.66sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.70sWARNplanning_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. + 18.70sWARNplanning_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. + 18.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.70sWARNplanning_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. + 18.70sWARNplanning_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. + 18.70sWARNplanning_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. + 18.70sWARNplanning_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. + 18.70sWARNplanning_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. + 18.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.70sWARNplanning_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. + 18.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.70sWARNplanning_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. + 18.70sWARNplanning_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. + 18.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.70sWARNplanning_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. + 18.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.70sWARNplanning_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. + 18.70sWARNplanning_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. + 18.70sWARNplanning_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. + 18.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.70sWARNplanning_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. + 18.70sWARNplanning_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. + 18.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.71sWARNplanning_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. + 18.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.71sWARNplanning_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. + 18.71sWARNplanning_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. + 18.71sWARNplanning_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. + 18.71sWARNplanning_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. + 18.71sWARNplanning_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. + 18.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.71sWARNplanning_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. + 18.71sWARNplanning_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. + 18.71sWARNplanning_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. + 18.71sWARNplanning_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. + 18.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.71sWARNplanning_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. + 18.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.71sWARNplanning_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. + 18.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.71sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.72sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.72sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.74sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j + 18.74sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j [0m ×2 + 18.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453888 ms (missed cycles : 2). + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453888 ms (missed cycles : 2).[0m ×2 + 18.80sINFOmove_groupMoveGroup debug mode is ON + 18.80sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 18.80sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.81sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 18.81sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.81sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 18.81sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 18.81sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 18.81sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 18.83sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.83sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.85sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.85sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.85sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.85sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.85sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786121961.716 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 18.85sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.86sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.86sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.89sINFOcomponent_container_mt[2026-08-07 16:59:22.877] [moveit_pro_license] [info] ×2 + 18.89sINFOcomponent_container_mt************************************************* ×4 + 18.89sINFOcomponent_container_mt* MoveIt Pro License ×2 + 18.89sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.91sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.97sINFOglobal_costmap.global_costmapstart + 18.98sINFOmove_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
********************************************************
+ 18.99sINFOmove_group ×8 + 18.99sINFOmove_group******************************************************** ×4 + 18.99sINFOmove_group* MoveGroup using: ×2 + 18.99sINFOmove_group* - apply_planning_scene_service ×2 + 18.99sINFOmove_group* - clear_octomap_service ×2 + 18.99sINFOmove_group* - get_group_urdf ×2 + 18.99sINFOmove_group* - load_geometry_from_file ×2 + 18.99sINFOmove_group* - get_planning_scene_service ×2 + 18.99sINFOmove_group* - kinematics_service ×2 + 18.99sINFOmove_group* - save_geometry_to_file ×2 + 18.99sINFOmove_group* - GetPlanningGroups ×2 + 18.99sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.99sINFOmove_group[0m ×2 + 18.99sINFOmove_group[92mYou can start planning now![0m ×2 + 19.19sINFOros2_control_node[2026-08-07 16:59:23.172] [info] Controller state will be published at 20 Hz. ×2 + 19.19sINFOros2_control_node[2026-08-07 16:59:23.173] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.26sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.27sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.27sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.39sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.43sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 19.52sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 19.53sINFOcontroller_managerLoading controller 'vacuum_gripper' + 19.53sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 19.53sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 19.53sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j + 19.53sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j [0m ×2 + 19.54sINFOros2-19process has finished cleanly [pid 9565] ×2 + 19.56sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 19.56sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 19.61sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 19.61sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 19.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 19.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 19.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 19.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 19.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 19.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 19.63sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 19.63sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433574 ms (missed cycles : 3). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433574 ms (missed cycles : 3).[0m ×2 + 19.95sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 19.95sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 19.95sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 19.95sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 19.95sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j + 19.95sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j [0m ×2 + 19.95sINFOros2-14process has finished cleanly [pid 9560] ×2 + 20.02sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 20.03sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 20.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 20.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 20.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 20.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 20.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 20.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 20.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 20.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 20.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 20.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 20.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 20.07sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 20.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 20.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 20.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 20.13sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 20.13sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 20.13sINFObehavior_serverActivating + 20.13sINFObehavior_serverActivating spin + 20.13sINFObehavior_serverActivating backup + 20.13sINFObehavior_serverActivating drive_on_heading + 20.13sINFObehavior_serverActivating assisted_teleop + 20.13sINFObehavior_serverActivating wait + 20.13sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 20.24sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 20.24sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 20.24sINFObt_navigatorActivating + 20.29sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 20.39sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 20.39sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 20.39sINFOwaypoint_followerActivating + 20.39sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 20.43sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 20.43sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 20.43sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 20.43sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 20.43sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j + 20.43sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j [0m ×2 + 20.45sINFOros2-16process has finished cleanly [pid 9562] ×2 + 20.49sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 20.49sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 20.49sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 20.49sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 20.50sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 20.50sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 20.50sINFOvelocity_smootherActivating + 20.50sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 20.50sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 20.50sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 20.50sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 20.50sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 20.53sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 20.60sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 20.60sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 20.60sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 20.84sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 20.84sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 20.84sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j + 20.84sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 20.84sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 20.84sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j [0m ×2 + 20.84sINFOros2-11process has finished cleanly [pid 9539] ×2 + 20.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439050 ms (missed cycles : 3). + 20.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439050 ms (missed cycles : 3).[0m ×2 + 20.90sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 20.90sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 20.90sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 20.90sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 20.90sINFOplatform_velocity_controllerconfigure successful + 20.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 20.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 20.91sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 20.91sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 20.97sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.26sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 21.26sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 21.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 21.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 21.27sINFOros2-13process has finished cleanly [pid 9559] ×2 + 21.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j + 21.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j [0m ×2 + 21.40sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 21.40sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 21.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 21.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 21.78sINFOros2_control_node[2026-08-07 16:59:25.762] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 21.78sINFOros2_control_node[2026-08-07 16:59:25.765] [info] Controller state will be published at 10 Hz. ×2 + 21.78sINFOros2_control_node[2026-08-07 16:59:25.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762250 ms (missed cycles : 4). + 22.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762250 ms (missed cycles : 4).[0m ×2 + 22.16sINFOros2-18process has finished cleanly [pid 9564] ×2 + 22.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 22.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 22.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 22.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 22.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j + 22.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j [0m ×2 + 22.23sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 22.23sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 22.23sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 22.23sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 22.62sINFOros2_control_node[2026-08-07 16:59:26.608] [info] Controller state will be published at 20 Hz. ×2 + 22.63sINFOros2_control_node[2026-08-07 16:59:26.609] [info] JointVelocityController 'on_configure' succeeded. ×2 + 22.97sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 22.98sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 22.98sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 22.98sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 22.98sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j + 22.98sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j [0m ×2 + 23.00sINFOros2-20process has finished cleanly [pid 9566] ×2 + 23.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 23.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 23.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 23.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 23.05sINFOforce_torque_sensor_broadcasterconfigure successful + 23.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 23.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 23.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 23.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 23.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979568 ms (missed cycles : 2). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979568 ms (missed cycles : 2).[0m ×2 + 23.39sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 23.39sINFOcontroller_managerLoading controller 'velocity_force_controller' + 23.39sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j + 23.39sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 23.39sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 23.40sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5q9lzd23 --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_achg0g8k --params-file /tmp/launch_params_bxy1dx7j [0m ×2 + 23.41sINFOros2-10process has finished cleanly [pid 9538] ×2 + 23.46sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 23.46sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 23.46sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 23.47sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 23.82sINFOros2_control_node[2026-08-07 16:59:27.806] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 23.82sINFOros2_control_node[2026-08-07 16:59:27.808] [info] Controller state will be published at 10 Hz. ×2 + 23.82sINFOros2_control_node[2026-08-07 16:59:27.809] [info] VelocityForceController 'on_configure' succeeded. ×2 + 23.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 23.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 24.15sINFOros2-17process has finished cleanly [pid 9563] ×2 + 24.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761023 ms (missed cycles : 2). + 24.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761023 ms (missed cycles : 2).[0m ×2 + 25.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2). + 25.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2).[0m ×2 + 26.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 26.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 27.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 27.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 27.65sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 28.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 28.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 29.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.02sINFOmove_groupClearing octomap...[0m ×2 + 29.02sINFOmove_groupOctomap cleared.[0m ×2 + 29.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 29.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 29.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 29.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 30.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 30.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 30.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 30.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.90sINFOobjective_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 + 30.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 30.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 30.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 30.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 30.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 30.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 30.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 30.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 30.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 30.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 73.3s | 3 errors · 236 warnings · 213 info |
+ 0.00sINFOamclParticle filter update iteration stats: 4477 particles 723 points - 8.321ms + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780215 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780215 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 3886 particles 723 points - 5.970ms + 1.00sINFOamclParticle filter update iteration stats: 3492 particles 723 points - 4.746ms + 1.50sINFOamclParticle filter update iteration stats: 3159 particles 723 points - 4.046ms + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287314 ms (missed cycles : 3). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287314 ms (missed cycles : 3).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 3066 particles 723 points - 3.609ms + 2.50sINFOamclParticle filter update iteration stats: 2847 particles 723 points - 4.426ms + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900164 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900164 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 2596 particles 723 points - 3.766ms + 3.50sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 3.764ms + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914660 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914660 ms (missed cycles : 2).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 2355 particles 723 points - 3.177ms + 4.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOjoint_trajectory_controllerGot request to cancel goal + 4.14sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.14sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.14sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.14sERRORobjective_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: 1786122182.98761106 seconds ×3 + 4.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.285ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.760ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.340ms + 4.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786122183.55659533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763095 ms (missed cycles : 4). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763095 ms (missed cycles : 4).[0m ×2 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.778ms + 5.09sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.315ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.704ms + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228993 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228993 ms (missed cycles : 3).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.929ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.753ms + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.813ms + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.606ms + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421659 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421659 ms (missed cycles : 3).[0m ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.98sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.98sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.98sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.351ms + 7.50sINFOamclParticle filter update iteration stats: 4663 particles 723 points - 6.033ms + 7.80sINFOamclParticle filter update iteration stats: 3959 particles 723 points - 5.721ms + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687018 ms (missed cycles : 5). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687018 ms (missed cycles : 5).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 3315 particles 723 points - 4.565ms + 8.40sINFOamclParticle filter update iteration stats: 2847 particles 723 points - 5.732ms + 8.80sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 3.193ms + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696769 ms (missed cycles : 2). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696769 ms (missed cycles : 2).[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665149 ms (missed cycles : 3). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665149 ms (missed cycles : 3).[0m ×2 + 9.99sINFOamclParticle filter update iteration stats: 2146 particles 723 points - 2.740ms + 10.59sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 3.411ms + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439709 ms (missed cycles : 3). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439709 ms (missed cycles : 3).[0m ×2 + 11.10sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 4.248ms + 11.58sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 1.521ms + 12.09sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.754ms + 12.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177640 ms (missed cycles : 2). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177640 ms (missed cycles : 2).[0m ×2 + 12.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 13.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.059ms + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353419 ms (missed cycles : 4). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353419 ms (missed cycles : 4).[0m ×2 + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.864ms + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656984 ms (missed cycles : 2). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656984 ms (missed cycles : 2).[0m ×2 + 14.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947094 ms (missed cycles : 2). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947094 ms (missed cycles : 2).[0m ×2 + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897185 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897185 ms (missed cycles : 2).[0m ×2 + 16.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.121ms + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967496 ms (missed cycles : 3). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967496 ms (missed cycles : 3).[0m ×2 + 17.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms ×3 + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554651 ms (missed cycles : 3). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554651 ms (missed cycles : 3).[0m ×2 + 18.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 19.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979025 ms (missed cycles : 2). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979025 ms (missed cycles : 2).[0m ×2 + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.387ms + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 20.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427612 ms (missed cycles : 4). + 20.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427612 ms (missed cycles : 4).[0m ×2 + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987029 ms (missed cycles : 3). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987029 ms (missed cycles : 3).[0m ×2 + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702369 ms (missed cycles : 3). + 22.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702369 ms (missed cycles : 3).[0m ×2 + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 23.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226216 ms (missed cycles : 3). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226216 ms (missed cycles : 3).[0m ×2 + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 24.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878254 ms (missed cycles : 3). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878254 ms (missed cycles : 3).[0m ×2 + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 25.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.727253 ms (missed cycles : 3). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.727253 ms (missed cycles : 3).[0m ×2 + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 27.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955605 ms (missed cycles : 3). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955605 ms (missed cycles : 3).[0m ×2 + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 28.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126858 ms (missed cycles : 4). + 28.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126858 ms (missed cycles : 4).[0m ×2 + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 29.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896846 ms (missed cycles : 5). + 29.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896846 ms (missed cycles : 5).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357370 ms (missed cycles : 4). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357370 ms (missed cycles : 4).[0m ×2 + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 31.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468930 ms (missed cycles : 3). + 31.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468930 ms (missed cycles : 3).[0m ×2 + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 32.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173394 ms (missed cycles : 3). + 32.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173394 ms (missed cycles : 3).[0m ×2 + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 32.81sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520218 ms (missed cycles : 5). + 33.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520218 ms (missed cycles : 5).[0m ×2 + 34.21sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.21sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280904 ms (missed cycles : 2). + 34.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280904 ms (missed cycles : 2).[0m ×2 + 34.71sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 35.48sINFOobjective_server_nodePlanning for 40 path waypoints. ×3 + 35.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588201 ms (missed cycles : 4). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588201 ms (missed cycles : 4).[0m ×2 + 36.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152052 ms (missed cycles : 4). + 36.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152052 ms (missed cycles : 4).[0m ×2 + 37.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523483 ms (missed cycles : 3). + 37.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523483 ms (missed cycles : 3).[0m ×2 + 38.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 38.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 38.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725493 ms (missed cycles : 3). + 38.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725493 ms (missed cycles : 3).[0m ×2 + 39.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 39.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 39.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343117 ms (missed cycles : 4). + 39.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343117 ms (missed cycles : 4).[0m ×2 + 40.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 40.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 41.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306153 ms (missed cycles : 3). + 41.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306153 ms (missed cycles : 3).[0m ×2 + 41.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.157ms + 41.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 42.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423047 ms (missed cycles : 2). + 42.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423047 ms (missed cycles : 2).[0m ×2 + 43.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180193 ms (missed cycles : 2). + 43.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180193 ms (missed cycles : 2).[0m ×2 + 44.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972803 ms (missed cycles : 3). + 44.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972803 ms (missed cycles : 3).[0m ×2 + 45.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104280 ms (missed cycles : 4). + 45.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104280 ms (missed cycles : 4).[0m ×2 + 45.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 46.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397936 ms (missed cycles : 3). + 46.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397936 ms (missed cycles : 3).[0m ×2 + 47.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 47.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160998 ms (missed cycles : 3). + 47.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160998 ms (missed cycles : 3).[0m ×2 + 48.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 48.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202629 ms (missed cycles : 2). + 48.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202629 ms (missed cycles : 2).[0m ×2 + 48.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms ×2 + 49.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522068 ms (missed cycles : 2). + 49.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522068 ms (missed cycles : 2).[0m ×2 + 49.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 50.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259199 ms (missed cycles : 2). + 50.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259199 ms (missed cycles : 2).[0m ×2 + 50.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 51.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356195 ms (missed cycles : 2). + 51.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356195 ms (missed cycles : 2).[0m ×2 + 51.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.174ms + 52.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199716 ms (missed cycles : 2). + 52.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199716 ms (missed cycles : 2).[0m ×2 + 53.00sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 53.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384369 ms (missed cycles : 3). + 53.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384369 ms (missed cycles : 3).[0m ×2 + 54.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.984953 ms (missed cycles : 5). + 54.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.984953 ms (missed cycles : 5).[0m ×2 + 55.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139549 ms (missed cycles : 2). + 55.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139549 ms (missed cycles : 2).[0m ×2 + 56.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202045 ms (missed cycles : 3). + 56.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202045 ms (missed cycles : 3).[0m ×2 + 57.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 58.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448054 ms (missed cycles : 3). + 58.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448054 ms (missed cycles : 3).[0m ×2 + 58.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.190ms + 59.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412843 ms (missed cycles : 2). + 59.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412843 ms (missed cycles : 2).[0m ×2 + 59.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 60.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777979 ms (missed cycles : 3). + 60.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777979 ms (missed cycles : 3).[0m ×2 + 60.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 61.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785994 ms (missed cycles : 2). + 61.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785994 ms (missed cycles : 2).[0m ×2 + 61.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 62.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111199 ms (missed cycles : 2). + 62.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111199 ms (missed cycles : 2).[0m ×2 + 62.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 63.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978701 ms (missed cycles : 2). + 63.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978701 ms (missed cycles : 2).[0m ×2 + 64.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.232ms + 64.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917580 ms (missed cycles : 3). + 64.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917580 ms (missed cycles : 3).[0m ×2 + 65.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320169 ms (missed cycles : 3). + 65.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320169 ms (missed cycles : 3).[0m ×2 + 65.68sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 65.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.310ms + 66.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503193 ms (missed cycles : 2). + 66.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503193 ms (missed cycles : 2).[0m ×2 + 67.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452071 ms (missed cycles : 3). + 67.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452071 ms (missed cycles : 3).[0m ×2 + 68.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143147 ms (missed cycles : 4). + 68.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143147 ms (missed cycles : 4).[0m ×2 + 69.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 70.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025401 ms (missed cycles : 2). + 70.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025401 ms (missed cycles : 2).[0m ×2 + 70.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 71.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268704 ms (missed cycles : 4). + 71.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268704 ms (missed cycles : 4).[0m ×2 + 71.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 72.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411944 ms (missed cycles : 4). + 72.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411944 ms (missed cycles : 4).[0m ×2 + 72.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 73.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217918 ms (missed cycles : 2). + 73.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217918 ms (missed cycles : 2).[0m ×2 + 73.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 74.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045012 ms (missed cycles : 3). + 74.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045012 ms (missed cycles : 3).[0m ×2 + 74.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms ×2 + 75.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593184 ms (missed cycles : 3). + 75.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593184 ms (missed cycles : 3).[0m ×2 + 76.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660084 ms (missed cycles : 3). + 76.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660084 ms (missed cycles : 3).[0m ×2 + 77.43sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786122256.27676058 seconds ×3 + 77.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811243 ms (missed cycles : 2). + 77.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811243 ms (missed cycles : 2).[0m ×2 + 77.58sWARNlocal_costmap.local_costmapSensor origin at (-0.96, 6.93) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 77.58sWARNlocal_costmap.local_costmapSensor origin at (-1.83, 6.71) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 77.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.888ms + 77.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.234ms + 78.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786122256.84386611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 78.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.345ms + 78.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.556ms + 78.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3). + 78.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3).[0m ×2 + 79.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2). + 79.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2).[0m ×2 + 80.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.632ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.6s | 185 warnings · 166 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786122018.63250947 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786122019.19362378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984067 ms (missed cycles : 3). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984067 ms (missed cycles : 3).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281561 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281561 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeFound path in 0 iterations (2.4836e-05 s). ×2 + 1.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.70sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.70sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.70sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.70sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107700 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107700 ms (missed cycles : 3).[0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413053 ms (missed cycles : 4). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413053 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786122022.42374110 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786122022.98902535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966890 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966890 ms (missed cycles : 2).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996514 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996514 ms (missed cycles : 2).[0m ×2 + 6.91sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291697 ms (missed cycles : 2). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291697 ms (missed cycles : 2).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229085 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229085 ms (missed cycles : 3).[0m ×2 + 9.02sINFOamclParticle filter update iteration stats: 1693 particles 723 points - 2.088ms + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677151 ms (missed cycles : 2). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677151 ms (missed cycles : 2).[0m ×2 + 9.61sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 1.827ms + 10.12sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.467ms + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238133 ms (missed cycles : 4). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238133 ms (missed cycles : 4).[0m ×2 + 10.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.336ms + 11.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203927 ms (missed cycles : 2). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203927 ms (missed cycles : 2).[0m ×2 + 11.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms + 12.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 12.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217643 ms (missed cycles : 4). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217643 ms (missed cycles : 4).[0m ×2 + 13.02sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 13.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671696 ms (missed cycles : 3). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671696 ms (missed cycles : 3).[0m ×2 + 14.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 14.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019023 ms (missed cycles : 3). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019023 ms (missed cycles : 3).[0m ×2 + 15.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.297ms + 15.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.200ms + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835188 ms (missed cycles : 2). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835188 ms (missed cycles : 2).[0m ×2 + 16.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 16.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250108 ms (missed cycles : 3). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250108 ms (missed cycles : 3).[0m ×2 + 17.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 17.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499769 ms (missed cycles : 3). + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499769 ms (missed cycles : 3).[0m ×2 + 18.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 18.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143289 ms (missed cycles : 3). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143289 ms (missed cycles : 3).[0m ×2 + 19.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 20.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086473 ms (missed cycles : 3). + 20.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086473 ms (missed cycles : 3).[0m ×2 + 20.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 20.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.265ms + 21.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551062 ms (missed cycles : 3). + 21.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551062 ms (missed cycles : 3).[0m ×2 + 21.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 22.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445608 ms (missed cycles : 2). + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445608 ms (missed cycles : 2).[0m ×2 + 22.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 23.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 23.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332783 ms (missed cycles : 4). + 23.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332783 ms (missed cycles : 4).[0m ×2 + 23.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 24.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 24.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386207 ms (missed cycles : 3). + 24.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386207 ms (missed cycles : 3).[0m ×2 + 24.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 25.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 25.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865105 ms (missed cycles : 3). + 25.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865105 ms (missed cycles : 3).[0m ×2 + 25.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 26.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207135 ms (missed cycles : 4). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207135 ms (missed cycles : 4).[0m ×2 + 26.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 27.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.303ms + 27.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078551 ms (missed cycles : 2). + 27.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078551 ms (missed cycles : 2).[0m ×2 + 27.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms ×2 + 28.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 28.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358292 ms (missed cycles : 4). + 28.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358292 ms (missed cycles : 4).[0m ×2 + 29.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 29.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 29.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929902 ms (missed cycles : 2). + 29.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929902 ms (missed cycles : 2).[0m ×2 + 30.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.211ms + 30.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 31.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321072 ms (missed cycles : 3). + 31.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321072 ms (missed cycles : 3).[0m ×2 + 31.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 31.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.263ms + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425409 ms (missed cycles : 3). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425409 ms (missed cycles : 3).[0m ×2 + 32.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 32.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572048 ms (missed cycles : 5). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572048 ms (missed cycles : 5).[0m ×2 + 33.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 33.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 34.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565438 ms (missed cycles : 4). + 34.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565438 ms (missed cycles : 4).[0m ×2 + 34.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 35.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967549 ms (missed cycles : 4). + 35.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967549 ms (missed cycles : 4).[0m ×2 + 35.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.70sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271942 ms (missed cycles : 2). + 36.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271942 ms (missed cycles : 2).[0m ×2 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982974 ms (missed cycles : 3). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982974 ms (missed cycles : 3).[0m ×2 + 37.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 38.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931261 ms (missed cycles : 2). + 38.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931261 ms (missed cycles : 2).[0m ×2 + 39.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950473 ms (missed cycles : 3). + 39.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950473 ms (missed cycles : 3).[0m ×2 + 39.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 40.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677348 ms (missed cycles : 2). + 40.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677348 ms (missed cycles : 2).[0m ×2 + 41.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555830 ms (missed cycles : 4). + 41.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555830 ms (missed cycles : 4).[0m ×2 + 42.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 42.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.252381 ms (missed cycles : 4). + 42.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.252381 ms (missed cycles : 4).[0m ×2 + 43.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285726 ms (missed cycles : 3). + 43.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285726 ms (missed cycles : 3).[0m ×2 + 44.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768450 ms (missed cycles : 3). + 44.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768450 ms (missed cycles : 3).[0m ×2 + 45.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946186 ms (missed cycles : 2). + 45.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946186 ms (missed cycles : 2).[0m ×2 + 46.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 46.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222102 ms (missed cycles : 3). + 46.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222102 ms (missed cycles : 3).[0m ×2 + 47.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459352 ms (missed cycles : 4). + 47.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459352 ms (missed cycles : 4).[0m ×2 + 48.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490837 ms (missed cycles : 3). + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490837 ms (missed cycles : 3).[0m ×2 + 49.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 49.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304994 ms (missed cycles : 2). + 49.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304994 ms (missed cycles : 2).[0m ×2 + 50.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332121 ms (missed cycles : 5). + 50.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332121 ms (missed cycles : 5).[0m ×2 + 52.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889873 ms (missed cycles : 4). + 52.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889873 ms (missed cycles : 4).[0m ×2 + 52.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 53.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149741 ms (missed cycles : 3). + 53.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149741 ms (missed cycles : 3).[0m ×2 + 54.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183650 ms (missed cycles : 4). + 54.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183650 ms (missed cycles : 4).[0m ×2 + 55.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406017 ms (missed cycles : 3). + 55.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406017 ms (missed cycles : 3).[0m ×2 + 56.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 56.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114147 ms (missed cycles : 3). + 56.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114147 ms (missed cycles : 3).[0m ×2 + 57.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686146 ms (missed cycles : 2). + 57.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686146 ms (missed cycles : 2).[0m ×2 + 58.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354199 ms (missed cycles : 3). + 58.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354199 ms (missed cycles : 3).[0m ×2 + 59.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712662 ms (missed cycles : 3). + 59.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712662 ms (missed cycles : 3).[0m ×2 + 60.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835618 ms (missed cycles : 2). + 60.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835618 ms (missed cycles : 2).[0m ×2 + 61.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 61.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786122080.01998901 seconds ×3 + 61.51sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.51sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432313 ms (missed cycles : 2). + 61.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432313 ms (missed cycles : 2).[0m ×2 + 61.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.023ms + 61.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.787ms + 61.97sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786122080.59216070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.292ms + 62.35sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 62.39sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.952ms + 62.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460712 ms (missed cycles : 3). + 62.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460712 ms (missed cycles : 3).[0m ×2 + 63.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.404ms + 63.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456610 ms (missed cycles : 3). + 63.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456610 ms (missed cycles : 3).[0m ×2 + 64.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.262ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.2s | 182 warnings · 150 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.556ms + 0.36sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.36sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.36sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.36sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3).[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.632ms + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188367 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188367 ms (missed cycles : 2).[0m ×2 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.929ms + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247732 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247732 ms (missed cycles : 3).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.18sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.22sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786122261.14399147 seconds ×3 + 4.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786122261.72857571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874185 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874185 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900356 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900356 ms (missed cycles : 3).[0m ×2 + 7.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902056 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902056 ms (missed cycles : 2).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447168 ms (missed cycles : 3). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447168 ms (missed cycles : 3).[0m ×2 + 9.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.811ms + 10.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.542ms + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288168 ms (missed cycles : 2). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288168 ms (missed cycles : 2).[0m ×2 + 10.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.352ms + 11.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.150ms + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014763 ms (missed cycles : 2). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014763 ms (missed cycles : 2).[0m ×2 + 11.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.213ms + 12.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.569ms + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711079 ms (missed cycles : 3). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711079 ms (missed cycles : 3).[0m ×2 + 12.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.441ms + 13.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.207ms + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314030 ms (missed cycles : 4). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314030 ms (missed cycles : 4).[0m ×2 + 13.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.304ms + 14.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.798ms + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509925 ms (missed cycles : 4). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509925 ms (missed cycles : 4).[0m ×2 + 14.62sINFOamclParticle filter update iteration stats: 3637 particles 723 points - 7.125ms + 14.73sINFOros2_control_nodeMuJoCo sim: 0.89% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.11sINFOamclParticle filter update iteration stats: 2313 particles 723 points - 4.178ms + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680094 ms (missed cycles : 2). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680094 ms (missed cycles : 2).[0m ×2 + 15.61sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 2.605ms + 16.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.792ms + 16.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.207ms + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066067 ms (missed cycles : 3). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066067 ms (missed cycles : 3).[0m ×2 + 17.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 17.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.147ms + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043803 ms (missed cycles : 3). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043803 ms (missed cycles : 3).[0m ×2 + 18.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.250ms + 18.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 18.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411367 ms (missed cycles : 4). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411367 ms (missed cycles : 4).[0m ×2 + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.183ms + 19.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.202ms + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209231 ms (missed cycles : 3). + 19.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209231 ms (missed cycles : 3).[0m ×2 + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.148ms + 20.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.504ms + 21.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.184ms + 21.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241586 ms (missed cycles : 3). + 21.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241586 ms (missed cycles : 3).[0m ×2 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 22.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 22.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595289 ms (missed cycles : 2). + 22.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595289 ms (missed cycles : 2).[0m ×2 + 22.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 23.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 23.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535648 ms (missed cycles : 2). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535648 ms (missed cycles : 2).[0m ×2 + 23.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 24.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 24.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577870 ms (missed cycles : 3). + 24.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577870 ms (missed cycles : 3).[0m ×2 + 24.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 25.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.166ms + 25.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154875 ms (missed cycles : 3). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154875 ms (missed cycles : 3).[0m ×2 + 26.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms + 26.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 26.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511136 ms (missed cycles : 3). + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511136 ms (missed cycles : 3).[0m ×2 + 27.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.221ms + 27.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482884 ms (missed cycles : 3). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482884 ms (missed cycles : 3).[0m ×2 + 28.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.691ms + 28.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms ×2 + 28.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174447 ms (missed cycles : 4). + 28.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174447 ms (missed cycles : 4).[0m ×2 + 29.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 29.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 29.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019586 ms (missed cycles : 4). + 29.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019586 ms (missed cycles : 4).[0m ×2 + 30.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 30.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 30.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097891 ms (missed cycles : 4). + 30.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097891 ms (missed cycles : 4).[0m ×2 + 31.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 31.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 32.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604409 ms (missed cycles : 4). + 32.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604409 ms (missed cycles : 4).[0m ×2 + 32.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.211ms + 32.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.294ms + 33.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.118319 ms (missed cycles : 4). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.118319 ms (missed cycles : 4).[0m ×2 + 33.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 33.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313635 ms (missed cycles : 4). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313635 ms (missed cycles : 4).[0m ×2 + 34.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 35.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711400 ms (missed cycles : 3). + 35.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711400 ms (missed cycles : 3).[0m ×2 + 35.76sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.76sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568658 ms (missed cycles : 2). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568658 ms (missed cycles : 2).[0m ×2 + 37.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680260 ms (missed cycles : 2). + 37.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680260 ms (missed cycles : 2).[0m ×2 + 38.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250984 ms (missed cycles : 3). + 38.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250984 ms (missed cycles : 3).[0m ×2 + 39.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787066 ms (missed cycles : 3). + 39.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787066 ms (missed cycles : 3).[0m ×2 + 40.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146862 ms (missed cycles : 2). + 40.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146862 ms (missed cycles : 2).[0m ×2 + 40.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.246ms + 41.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932582 ms (missed cycles : 3). + 41.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932582 ms (missed cycles : 3).[0m ×2 + 42.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300687 ms (missed cycles : 2). + 42.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300687 ms (missed cycles : 2).[0m ×2 + 42.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 43.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372527 ms (missed cycles : 3). + 43.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372527 ms (missed cycles : 3).[0m ×2 + 44.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209916 ms (missed cycles : 3). + 44.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209916 ms (missed cycles : 3).[0m ×2 + 45.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742051 ms (missed cycles : 2). + 45.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742051 ms (missed cycles : 2).[0m ×2 + 45.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 46.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362143 ms (missed cycles : 3). + 46.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362143 ms (missed cycles : 3).[0m ×2 + 47.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135027 ms (missed cycles : 2). + 47.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135027 ms (missed cycles : 2).[0m ×2 + 48.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422207 ms (missed cycles : 2). + 48.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422207 ms (missed cycles : 2).[0m ×2 + 49.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 49.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205829 ms (missed cycles : 3). + 49.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205829 ms (missed cycles : 3).[0m ×2 + 50.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460444 ms (missed cycles : 3). + 50.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460444 ms (missed cycles : 3).[0m ×2 + 52.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487408 ms (missed cycles : 4). + 52.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487408 ms (missed cycles : 4).[0m ×2 + 52.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 53.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760299 ms (missed cycles : 3). + 53.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760299 ms (missed cycles : 3).[0m ×2 + 54.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 114.812126 ms (missed cycles : 69). + 54.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 114.812126 ms (missed cycles : 69).[0m ×2 + 55.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587045 ms (missed cycles : 2). + 55.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587045 ms (missed cycles : 2).[0m ×2 + 56.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360375 ms (missed cycles : 3). + 56.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360375 ms (missed cycles : 3).[0m ×2 + 57.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 57.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944757 ms (missed cycles : 4). + 57.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944757 ms (missed cycles : 4).[0m ×2 + 58.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997502 ms (missed cycles : 4). + 58.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997502 ms (missed cycles : 4).[0m ×2 + 59.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681382 ms (missed cycles : 3). + 59.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681382 ms (missed cycles : 3).[0m ×2 + 60.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 60.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680288 ms (missed cycles : 4). + 60.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680288 ms (missed cycles : 4).[0m ×2 + 61.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786122318.32871604 seconds ×3 + 61.50sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.50sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.971ms + 61.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.177ms + 61.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202465 ms (missed cycles : 2). + 61.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202465 ms (missed cycles : 2).[0m ×2 + 61.98sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786122318.90910292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 62.35sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 62.38sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.681ms + 62.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.205630 ms (missed cycles : 4). + 62.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.205630 ms (missed cycles : 4).[0m ×2 + 63.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.371ms | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.9s | 181 warnings · 171 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215862 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215862 ms (missed cycles : 2).[0m ×2 + 0.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998492 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998492 ms (missed cycles : 4).[0m ×2 + 1.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms ×2 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311662 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311662 ms (missed cycles : 4).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238606 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238606 ms (missed cycles : 4).[0m ×2 + 3.80sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.81sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.85sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786122117.06273866 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.87) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.716ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097819 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097819 ms (missed cycles : 2).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.928ms + 4.42sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786122117.62664795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.329ms + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.760ms + 5.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.942ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020052 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020052 ms (missed cycles : 4).[0m ×2 + 5.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.678ms + 5.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.001ms + 6.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.440ms + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965295 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965295 ms (missed cycles : 3).[0m ×2 + 6.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.467ms + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.71sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.71sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.71sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.71sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.229ms + 7.23sINFOamclParticle filter update iteration stats: 3274 particles 723 points - 4.547ms + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934953 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934953 ms (missed cycles : 2).[0m ×2 + 7.53sINFOamclParticle filter update iteration stats: 2051 particles 723 points - 3.211ms + 7.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.159ms + 8.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929905 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929905 ms (missed cycles : 3).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158467 ms (missed cycles : 3). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158467 ms (missed cycles : 3).[0m ×2 + 9.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms ×2 + 10.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157109 ms (missed cycles : 3). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157109 ms (missed cycles : 3).[0m ×2 + 10.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 11.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623071 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623071 ms (missed cycles : 3).[0m ×2 + 12.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 12.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757564 ms (missed cycles : 3). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757564 ms (missed cycles : 3).[0m ×2 + 13.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 13.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090207 ms (missed cycles : 4). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090207 ms (missed cycles : 4).[0m ×2 + 14.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350554 ms (missed cycles : 3). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350554 ms (missed cycles : 3).[0m ×2 + 15.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 15.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413238 ms (missed cycles : 3). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413238 ms (missed cycles : 3).[0m ×2 + 16.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 16.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.128ms + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452298 ms (missed cycles : 3). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452298 ms (missed cycles : 3).[0m ×2 + 17.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 17.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 18.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816406 ms (missed cycles : 2). + 18.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816406 ms (missed cycles : 2).[0m ×2 + 18.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms ×2 + 18.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275879 ms (missed cycles : 2). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275879 ms (missed cycles : 2).[0m ×2 + 19.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.251ms ×2 + 19.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768585 ms (missed cycles : 3). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768585 ms (missed cycles : 3).[0m ×2 + 20.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms ×2 + 20.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169202 ms (missed cycles : 3). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169202 ms (missed cycles : 3).[0m ×2 + 21.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 21.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 22.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175114 ms (missed cycles : 3). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175114 ms (missed cycles : 3).[0m ×2 + 22.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 23.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 23.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868349 ms (missed cycles : 3). + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868349 ms (missed cycles : 3).[0m ×2 + 23.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 24.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 24.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029119 ms (missed cycles : 4). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029119 ms (missed cycles : 4).[0m ×2 + 24.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 25.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 25.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140472 ms (missed cycles : 3). + 25.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140472 ms (missed cycles : 3).[0m ×2 + 25.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 26.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 26.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545061 ms (missed cycles : 4). + 26.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545061 ms (missed cycles : 4).[0m ×2 + 26.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 27.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 27.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343153 ms (missed cycles : 3). + 27.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343153 ms (missed cycles : 3).[0m ×2 + 27.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms + 28.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663626 ms (missed cycles : 4). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663626 ms (missed cycles : 4).[0m ×2 + 28.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 29.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 30.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058795 ms (missed cycles : 3). + 30.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058795 ms (missed cycles : 3).[0m ×2 + 30.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 31.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395280 ms (missed cycles : 2). + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395280 ms (missed cycles : 2).[0m ×2 + 31.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 31.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 32.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611422 ms (missed cycles : 3). + 32.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611422 ms (missed cycles : 3).[0m ×2 + 32.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 33.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687448 ms (missed cycles : 3). + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687448 ms (missed cycles : 3).[0m ×2 + 34.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406003 ms (missed cycles : 4). + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406003 ms (missed cycles : 4).[0m ×2 + 35.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099652 ms (missed cycles : 3). + 35.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099652 ms (missed cycles : 3).[0m ×2 + 35.89sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.216595 ms (missed cycles : 5). + 36.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.216595 ms (missed cycles : 5).[0m ×2 + 36.61sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.61sINFOobjective_server_nodePlanning for 53 path waypoints. ×3 + 37.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256174 ms (missed cycles : 4). + 37.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256174 ms (missed cycles : 4).[0m ×2 + 38.44sINFOros2_control_nodeMuJoCo sim: 0.45% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 38.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059317 ms (missed cycles : 2). + 38.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059317 ms (missed cycles : 2).[0m ×2 + 38.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 39.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 39.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 39.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942503 ms (missed cycles : 4). + 39.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942503 ms (missed cycles : 4).[0m ×2 + 39.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 40.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.076ms ×2 + 40.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454147 ms (missed cycles : 4). + 40.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454147 ms (missed cycles : 4).[0m ×2 + 40.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 41.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 41.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.556048 ms (missed cycles : 4). + 41.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.556048 ms (missed cycles : 4).[0m ×2 + 42.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582282 ms (missed cycles : 3). + 42.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582282 ms (missed cycles : 3).[0m ×2 + 43.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134412 ms (missed cycles : 4). + 43.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134412 ms (missed cycles : 4).[0m ×2 + 44.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015812 ms (missed cycles : 4). + 44.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015812 ms (missed cycles : 4).[0m ×2 + 45.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.105ms + 45.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122844 ms (missed cycles : 4). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122844 ms (missed cycles : 4).[0m ×2 + 46.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 46.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212664 ms (missed cycles : 3). + 46.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212664 ms (missed cycles : 3).[0m ×2 + 47.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 47.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872872 ms (missed cycles : 2). + 47.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872872 ms (missed cycles : 2).[0m ×2 + 48.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 49.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064642 ms (missed cycles : 2). + 49.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064642 ms (missed cycles : 2).[0m ×2 + 49.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 50.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112024 ms (missed cycles : 3). + 50.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112024 ms (missed cycles : 3).[0m ×2 + 50.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms + 51.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382893 ms (missed cycles : 4). + 51.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382893 ms (missed cycles : 4).[0m ×2 + 51.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 52.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105264 ms (missed cycles : 3). + 52.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105264 ms (missed cycles : 3).[0m ×2 + 52.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 53.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545771 ms (missed cycles : 3). + 53.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545771 ms (missed cycles : 3).[0m ×2 + 53.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 54.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509386 ms (missed cycles : 2). + 54.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509386 ms (missed cycles : 2).[0m ×2 + 54.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 55.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520421 ms (missed cycles : 3). + 55.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520421 ms (missed cycles : 3).[0m ×2 + 56.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.798ms + 56.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385333 ms (missed cycles : 3). + 56.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385333 ms (missed cycles : 3).[0m ×2 + 57.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 57.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703968 ms (missed cycles : 2). + 57.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703968 ms (missed cycles : 2).[0m ×2 + 58.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865578 ms (missed cycles : 2). + 58.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865578 ms (missed cycles : 2).[0m ×2 + 58.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786122172.01678300 seconds ×3 + 58.92sWARNlocal_costmap.local_costmapSensor origin at (-1.86, 10.53) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 58.92sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 11.03) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 59.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.315ms + 59.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.338ms + 59.37sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786122172.57744956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.315ms + 59.76sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 59.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582297 ms (missed cycles : 3). + 59.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582297 ms (missed cycles : 3).[0m ×2 + 59.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.238ms + 60.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.485ms + 60.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.123ms + 60.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.604ms + 60.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968572 ms (missed cycles : 5). + 60.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968572 ms (missed cycles : 5).[0m ×2 + 61.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.918ms + 61.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.827ms + 61.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.7s | 147 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.58sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 5.16sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.51sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289149 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289149 ms (missed cycles : 3).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591047 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591047 ms (missed cycles : 3).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001631 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001631 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676442 ms (missed cycles : 3). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676442 ms (missed cycles : 3).[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677028 ms (missed cycles : 3). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677028 ms (missed cycles : 3).[0m ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047249 ms (missed cycles : 3). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047249 ms (missed cycles : 3).[0m ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445061 ms (missed cycles : 3). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445061 ms (missed cycles : 3).[0m ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229640 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229640 ms (missed cycles : 3).[0m ×2 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577024 ms (missed cycles : 2). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577024 ms (missed cycles : 2).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751277 ms (missed cycles : 3). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751277 ms (missed cycles : 3).[0m ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860323 ms (missed cycles : 2). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860323 ms (missed cycles : 2).[0m ×2 + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378082 ms (missed cycles : 2). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378082 ms (missed cycles : 2).[0m ×2 + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066118 ms (missed cycles : 2). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066118 ms (missed cycles : 2).[0m ×2 + 20.22sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 2.805ms + 20.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021239 ms (missed cycles : 3). + 20.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021239 ms (missed cycles : 3).[0m ×2 + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552424 ms (missed cycles : 3). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552424 ms (missed cycles : 3).[0m ×2 + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395240 ms (missed cycles : 3). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395240 ms (missed cycles : 3).[0m ×2 + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867935 ms (missed cycles : 3). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867935 ms (missed cycles : 3).[0m ×2 + 24.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895248 ms (missed cycles : 3). + 24.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895248 ms (missed cycles : 3).[0m ×2 + 25.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020463 ms (missed cycles : 3). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020463 ms (missed cycles : 3).[0m ×2 + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989826 ms (missed cycles : 3). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989826 ms (missed cycles : 3).[0m ×2 + 27.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117919 ms (missed cycles : 3). + 27.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117919 ms (missed cycles : 3).[0m ×2 + 28.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578971 ms (missed cycles : 3). + 28.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578971 ms (missed cycles : 3).[0m ×2 + 29.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226239 ms (missed cycles : 3). + 29.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226239 ms (missed cycles : 3).[0m ×2 + 30.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046213 ms (missed cycles : 4). + 30.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046213 ms (missed cycles : 4).[0m ×2 + 31.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860348 ms (missed cycles : 2). + 31.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860348 ms (missed cycles : 2).[0m ×2 + 32.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267706 ms (missed cycles : 2). + 32.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267706 ms (missed cycles : 2).[0m ×2 + 33.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800038 ms (missed cycles : 3). + 33.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800038 ms (missed cycles : 3).[0m ×2 + 35.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122307 ms (missed cycles : 3). + 35.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122307 ms (missed cycles : 3).[0m ×2 + 36.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832804 ms (missed cycles : 2). + 36.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832804 ms (missed cycles : 2).[0m ×2 + 37.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174006 ms (missed cycles : 2). + 37.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174006 ms (missed cycles : 2).[0m ×2 + 38.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762211 ms (missed cycles : 3). + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762211 ms (missed cycles : 3).[0m ×2 + 39.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233333 ms (missed cycles : 3). + 39.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233333 ms (missed cycles : 3).[0m ×2 + 40.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008136 ms (missed cycles : 3). + 40.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008136 ms (missed cycles : 3).[0m ×2 + 41.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657527 ms (missed cycles : 2). + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657527 ms (missed cycles : 2).[0m ×2 + 42.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940213 ms (missed cycles : 2). + 42.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940213 ms (missed cycles : 2).[0m ×2 + 43.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139120 ms (missed cycles : 3). + 43.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139120 ms (missed cycles : 3).[0m ×2 + 44.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406047 ms (missed cycles : 3). + 44.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406047 ms (missed cycles : 3).[0m ×2 + 45.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786548 ms (missed cycles : 2). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786548 ms (missed cycles : 2).[0m ×2 + 46.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846012 ms (missed cycles : 2). + 46.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846012 ms (missed cycles : 2).[0m ×2 + 47.20sINFOjoint_trajectory_controllerGoal reached, success! + 47.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786122018.63250947 seconds ×3 + 47.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786122019.19362378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984067 ms (missed cycles : 3). + 47.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984067 ms (missed cycles : 3).[0m ×2 + 48.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281561 ms (missed cycles : 2). + 48.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281561 ms (missed cycles : 2).[0m ×2 + 48.88sINFOobjective_server_nodeFound path in 0 iterations (2.4836e-05 s). ×2 + 48.88sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107700 ms (missed cycles : 3). + 49.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107700 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.4s | 110 warnings · 115 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.404ms + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456610 ms (missed cycles : 3). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456610 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.262ms + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010026 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010026 ms (missed cycles : 2).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.503ms + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563556 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563556 ms (missed cycles : 3).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.88sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.93sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786122084.67231250 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431229 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431229 ms (missed cycles : 3).[0m ×2 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.49sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786122086.23260736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (1.175e-06 s). ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395140 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395140 ms (missed cycles : 3).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452580 ms (missed cycles : 3). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452580 ms (missed cycles : 3).[0m ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843475 ms (missed cycles : 3). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843475 ms (missed cycles : 3).[0m ×2 + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315761 ms (missed cycles : 3). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315761 ms (missed cycles : 3).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.573ms + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708884 ms (missed cycles : 3). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708884 ms (missed cycles : 3).[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.693ms + 9.90sINFOros2_control_nodeMuJoCo sim: 0.39% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.225ms + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811710 ms (missed cycles : 3). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811710 ms (missed cycles : 3).[0m ×2 + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.896ms + 11.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.246ms + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323954 ms (missed cycles : 2). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323954 ms (missed cycles : 2).[0m ×2 + 11.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.526ms + 12.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.671ms + 12.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734962 ms (missed cycles : 2). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734962 ms (missed cycles : 2).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 4787 particles 723 points - 5.973ms + 13.00sINFOamclParticle filter update iteration stats: 4052 particles 723 points - 5.319ms + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176040 ms (missed cycles : 2). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176040 ms (missed cycles : 2).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 3388 particles 723 points - 4.526ms + 14.00sINFOamclParticle filter update iteration stats: 2951 particles 723 points - 5.201ms + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768277 ms (missed cycles : 2). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768277 ms (missed cycles : 2).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 2418 particles 723 points - 3.428ms + 14.99sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.590ms + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031543 ms (missed cycles : 4). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031543 ms (missed cycles : 4).[0m ×2 + 15.49sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 1.976ms + 15.99sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 1.586ms + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123258 ms (missed cycles : 2). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123258 ms (missed cycles : 2).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 1.410ms + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757808 ms (missed cycles : 2). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757808 ms (missed cycles : 2).[0m ×2 + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.150ms + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429025 ms (missed cycles : 2). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429025 ms (missed cycles : 2).[0m ×2 + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 19.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674817 ms (missed cycles : 3). + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674817 ms (missed cycles : 3).[0m ×2 + 19.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 20.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650566 ms (missed cycles : 3). + 20.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650566 ms (missed cycles : 3).[0m ×2 + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 21.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226417 ms (missed cycles : 2). + 21.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226417 ms (missed cycles : 2).[0m ×2 + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 22.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250238 ms (missed cycles : 3). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250238 ms (missed cycles : 3).[0m ×2 + 22.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903631 ms (missed cycles : 3). + 23.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903631 ms (missed cycles : 3).[0m ×2 + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 24.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220746 ms (missed cycles : 3). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220746 ms (missed cycles : 3).[0m ×2 + 24.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158733 ms (missed cycles : 3). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158733 ms (missed cycles : 3).[0m ×2 + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635363 ms (missed cycles : 3). + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635363 ms (missed cycles : 3).[0m ×2 + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 27.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 28.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985288 ms (missed cycles : 2). + 28.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985288 ms (missed cycles : 2).[0m ×2 + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 29.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394519 ms (missed cycles : 4). + 29.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394519 ms (missed cycles : 4).[0m ×2 + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.148ms + 30.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015038 ms (missed cycles : 3). + 30.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015038 ms (missed cycles : 3).[0m ×2 + 30.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215862 ms (missed cycles : 2). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215862 ms (missed cycles : 2).[0m ×2 + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 32.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 32.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998492 ms (missed cycles : 4). + 32.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998492 ms (missed cycles : 4).[0m ×2 + 32.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 33.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 33.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311662 ms (missed cycles : 4). + 33.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311662 ms (missed cycles : 4).[0m ×2 + 34.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 34.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238606 ms (missed cycles : 4). + 34.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238606 ms (missed cycles : 4).[0m ×2 + 35.32sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786122117.06273866 seconds ×3 + 35.38sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 35.38sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.87) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 35.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.716ms + 35.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097819 ms (missed cycles : 2). + 35.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097819 ms (missed cycles : 2).[0m ×2 + 35.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.928ms + 35.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786122117.62664795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.329ms + 36.27sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 36.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.760ms + 36.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.942ms + 36.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020052 ms (missed cycles : 4). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020052 ms (missed cycles : 4).[0m ×2 + 37.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.678ms + 37.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.001ms + 37.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.440ms + 37.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965295 ms (missed cycles : 3). + 37.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965295 ms (missed cycles : 3).[0m ×2 + 37.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.467ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.5s | 59 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944757 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944757 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997502 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997502 ms (missed cycles : 4).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681382 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681382 ms (missed cycles : 3).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680288 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680288 ms (missed cycles : 4).[0m ×2 + 3.85sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.85sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786122318.32871604 seconds ×3 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.971ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.177ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202465 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202465 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786122318.90910292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.119ms + 4.84sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.88sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.88sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.88sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.681ms + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.205630 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.205630 ms (missed cycles : 4).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.371ms + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576308 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576308 ms (missed cycles : 2).[0m ×2 + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.442ms + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485944 ms (missed cycles : 3). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485944 ms (missed cycles : 3).[0m ×2 + 7.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.673ms + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420010 ms (missed cycles : 3). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420010 ms (missed cycles : 3).[0m ×2 + 9.27sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 9.30sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.34sINFOobjective_server_nodeFound path in 0 iterations (1.081e-06 s). ×2 + 9.38sINFOobjective_server_nodePath shortcutter: [X_____________________X] ×2 + 9.42sINFOobjective_server_nodeFound path in 0 iterations (1.84e-06 s). ×2 + 9.49sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 9.53sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 9.61sINFOobjective_server_nodePath shortcutter: [X_________________________________X] ×2 + 9.65sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569487 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569487 ms (missed cycles : 2).[0m ×2 + 9.83sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 9.89sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 10.07sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×2 + 10.12sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 10.63sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.69sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939047 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939047 ms (missed cycles : 2).[0m ×2 + 11.13sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.42sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271166 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271166 ms (missed cycles : 2).[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676686 ms (missed cycles : 3). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676686 ms (missed cycles : 3).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.774ms + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365032 ms (missed cycles : 3). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365032 ms (missed cycles : 3).[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.957ms + 14.50sINFOamclParticle filter update iteration stats: 3565 particles 723 points - 4.802ms + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314468 ms (missed cycles : 2). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314468 ms (missed cycles : 2).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 1766 particles 723 points - 3.417ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489991 ms (missed cycles : 3). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489991 ms (missed cycles : 3).[0m ×2 + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 17.22sINFOros2_control_nodeMuJoCo sim: 0.88% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175955 ms (missed cycles : 3). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175955 ms (missed cycles : 3).[0m ×2 + 17.42sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786122331.86150694 seconds ×3 + 17.60sINFOamclParticle filter update iteration stats: 2533 particles 723 points - 2.156ms + 18.00sINFOamclParticle filter update iteration stats: 3149 particles 723 points - 3.290ms + 18.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786122332.45123458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.01sINFOmove_groupClearing octomap...[0m ×2 + 18.01sINFOmove_groupOctomap cleared.[0m ×2 + 18.30sINFOamclParticle filter update iteration stats: 2784 particles 723 points - 4.397ms + 18.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681946 ms (missed cycles : 3). + 18.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681946 ms (missed cycles : 3).[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 2.962ms + 18.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786122333.07137823 seconds ×3 + 18.80sINFOamclParticle filter update iteration stats: 3367 particles 723 points - 3.200ms + 19.10sINFOamclParticle filter update iteration stats: 3191 particles 723 points - 3.696ms + 19.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786122333.62487411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.40sINFOamclParticle filter update iteration stats: 3003 particles 723 points - 4.727ms + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914445 ms (missed cycles : 2). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914445 ms (missed cycles : 2).[0m ×2 + 19.70sINFOamclParticle filter update iteration stats: 2648 particles 723 points - 3.119ms + 19.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786122334.16499639 seconds ×3 + 19.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 20.00sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.570ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.2s | 98 errors · 33 warnings · 400 info |
+ 0.00sINFOamclParticle filter update iteration stats: 3565 particles 723 points - 4.802ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314468 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314468 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1766 particles 723 points - 3.417ms + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489991 ms (missed cycles : 3). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489991 ms (missed cycles : 3).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 2.72sINFOros2_control_nodeMuJoCo sim: 0.88% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175955 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175955 ms (missed cycles : 3).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786122331.86150694 seconds ×3 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOamclParticle filter update iteration stats: 2533 particles 723 points - 2.156ms + 3.50sINFOamclParticle filter update iteration stats: 3149 particles 723 points - 3.290ms + 3.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786122332.45123458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.51sINFOmove_groupClearing octomap...[0m ×2 + 3.51sINFOmove_groupOctomap cleared.[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 2784 particles 723 points - 4.397ms + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681946 ms (missed cycles : 3). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681946 ms (missed cycles : 3).[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 2.962ms + 4.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786122333.07137823 seconds ×3 + 4.30sINFOamclParticle filter update iteration stats: 3367 particles 723 points - 3.200ms + 4.60sINFOamclParticle filter update iteration stats: 3191 particles 723 points - 3.696ms + 4.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786122333.62487411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOamclParticle filter update iteration stats: 3003 particles 723 points - 4.727ms + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914445 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914445 ms (missed cycles : 2).[0m ×2 + 5.20sINFOamclParticle filter update iteration stats: 2648 particles 723 points - 3.119ms + 5.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786122334.16499639 seconds ×3 + 5.46sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.50sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.570ms + 5.90sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 2.619ms + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049867 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049867 ms (missed cycles : 2).[0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848647 ms (missed cycles : 3). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848647 ms (missed cycles : 3).[0m ×2 + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558453 ms (missed cycles : 3). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558453 ms (missed cycles : 3).[0m ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076305 ms (missed cycles : 4). + 9.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076305 ms (missed cycles : 4).[0m ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569517 ms (missed cycles : 2). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569517 ms (missed cycles : 2).[0m ×2 + 10.89sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 10.93sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORweb_video_auth_proxy-35process has died [pid 9588, 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 + 10.94sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 10.96sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORweb_bridge_auth_proxy-34process has died [pid 9587, 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 + 10.97sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.06sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.09sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783825 ms (missed cycles : 3). + 11.12sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.14sINFOvideo_server-33process has finished cleanly [pid 9585] ×2 + 11.15sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.18sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.20sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.21sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.24sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.28sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.32sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.35sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.37sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9584] ×2 + 11.38sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.41sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.46sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.46sINFOcontroller_managerShutdown request received.... + 11.46sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.46sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.46sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.46sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.46sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.46sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.46sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.46sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.46sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.46sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.46sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.46sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.46sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.46sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.46sINFOcontroller_managerShutting down the controller manager. + 11.46sINFOui_teleop_bridge-30process has finished cleanly [pid 9582] ×2 + 11.48sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1786122340.118 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.50sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.51sERRORmove_group-21process has died [pid 9567, 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_00og2koi --params-file /tmp/launch_params_58ikdi_c --params-file /tmp/launch_params_s6yg1nqr --params-file /tmp/launch_params_lwn5w70g --params-file /tmp/launch_params_gdxn6kz2 --params-file /tmp/launch_params_q020qvcq']. ×2 + 11.51sINFOcomponent_container_mt-28process has finished cleanly [pid 9578] ×2 + 11.54sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.55sINFOexecute_objective_bridge-29process has finished cleanly [pid 9579] ×2 + 11.58sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.62sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.65sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.67sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.70sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.70sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.70sINFOmap_serverDeactivating + 11.70sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.71sINFOmap_serverCleaning up + 11.71sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.71sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.72sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.72sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.72sINFOcontroller_serverDeactivating + 11.72sINFOlocal_costmap.local_costmapDeactivating + 11.72sINFOvideo_server2026/08/07 17:05:39 INF shutting down gracefully ×2 + 11.72sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.72sINFOvideo_server2026/08/07 17:05:40 INF [WebRTC] closing ×2 + 11.72sINFOvideo_server2026/08/07 17:05:40 INF [RTSP] closing ×2 + 11.72sINFOvideo_server2026/08/07 17:05:40 INF waiting for running hooks ×2 + 11.73sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783825 ms (missed cycles : 3).[0m ×2 + 11.73sERRORamclThe bond connection to the lifecycle manager has been broken + 11.73sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.73sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.73sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.73sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.73sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.73sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.74sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.74sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.74sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.74sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.74sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.74sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.74sERRORmove_groupStack trace (most recent call last) in thread 10184: ×2 + 11.74sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.74sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feef043ea63, in __clone ×2 + 11.74sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feef03b1aa3, in ×2 + 11.74sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7feef0643db3, in ×2 + 11.74sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7feef0dafed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.74sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7feef09d5620, in rclcpp::Rate::sleep() ×2 + 11.74sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7feef0917d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.74sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7feef08d9087, in ×2 + 11.74sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7feef0612390, in __cxa_throw ×2 + 11.74sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7feef05fca54, in std::terminate() ×2 + 11.74sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7feef06120d9, in ×2 + 11.74sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7feef05fcff4, in ×2 + 11.74sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feef033d8fe, in abort ×2 + 11.74sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feef035a27d, in raise ×2 + 11.74sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feef03b3b2c, in pthread_kill ×2 + 11.74sERRORmove_groupAborted (Signal sent by tkill() 9567 0) ×2 + 11.74sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.74sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.74sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.74sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.74sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.74sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.74sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.74sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.74sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.74sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.74sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.74sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.75sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.75sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.75sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.75sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.75sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.75sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.75sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.75sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.75sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.75sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.75sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.75sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.75sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.75sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.75sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.75sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.75sINFOodom_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 + 11.75sINFOodom_qos_relay.pymain() ×2 + 11.75sINFOodom_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 + 11.75sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.75sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.75sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.75sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.75sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.75sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.75sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.75sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.75sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.75sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.75sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.75sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.76sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.76sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.78sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.79sINFOcontroller_serverCleaning up + 11.79sINFOlocal_costmap.local_costmapCleaning up + 11.84sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.84sINFOsmoother_serverDeactivating + 11.84sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.85sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.85sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.85sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.85sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.85sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.85sINFOvelocity_smootherDeactivating + 11.85sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.85sINFOsmoother_serverCleaning up + 11.86sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.86sINFOplanner_serverDeactivating + 11.86sINFOglobal_costmap.global_costmapDeactivating + 11.92sERRORcomponent_container_isolated-2process has died [pid 9453, 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_8t8oe19j --params-file /tmp/launch_params_q_dub0xs -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.96sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.96sINFOwaypoint_followerDeactivating + 11.96sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.02sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.02sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.03sINFOplanner_serverCleaning up + 12.04sINFOglobal_costmap.global_costmapCleaning up + 12.05sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.05sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.07sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.07sINFObt_navigatorDeactivating + 12.07sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.09sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.09sINFObehavior_serverDeactivating + 12.09sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.10sINFObehavior_serverCleaning up + 12.10sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.10sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.10sINFOwaypoint_followerCleaning up + 12.11sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.11sINFOvelocity_smootherCleaning up + 12.11sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.19sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.19sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.19sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 12.19sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.19sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.19sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.19sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.19sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.19sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.19sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.20sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.20sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.20sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.20sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.20sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.22sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.22sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.22sINFObt_navigatorCleaning up + 12.34sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9574] ×2 + 12.37sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9573] ×2 + 12.40sINFObt_navigatorCompleted Cleaning up + 12.40sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.40sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.40sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.40sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.40sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.40sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.40sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.40sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.40sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.44sINFOwaypoint_manager_node-23process has finished cleanly [pid 9569] ×2 + 12.44sINFOcomponent_container_mt-27process has finished cleanly [pid 9576] ×2 + 12.45sINFOobjective_server_node[2026-08-07 17:05:41.387] [moveit_pro_license] [info] ×2 + 12.45sINFOobjective_server_node************************************************* ×4 + 12.45sINFOobjective_server_node* MoveIt Pro License ×2 + 12.45sINFOobjective_server_node* Application has successfully terminated ×2 + 12.45sINFOparameter_manager_node-22process has finished cleanly [pid 9568] ×2 + 12.51sINFOobjective_server_node_main-26process has finished cleanly [pid 9575] ×2 + 12.51sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.54sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9459] ×2 + 12.58sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9458] ×2 + 12.69sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9457] ×2 + 12.69sINFOstatic_transform_publisher-4process has finished cleanly [pid 9455] ×2 + 12.70sERRORcomponent_container_isolated-1process has died [pid 9452, 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_8t8oe19j --params-file /tmp/launch_params_4052g_ok -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.71sINFOstatic_transform_publisher-3process has finished cleanly [pid 9454] ×2 + 12.72sERRORodom_qos_relay.py-5process has died [pid 9456, 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 + 13.73sINFOweb_bridge-31process has finished cleanly [pid 9583] ×2 + 13.73sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.19sINFOros2_control_node-9process has finished cleanly [pid 9460] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 53 warnings · 90 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520421 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520421 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.798ms + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385333 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385333 ms (missed cycles : 3).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703968 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703968 ms (missed cycles : 2).[0m ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865578 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865578 ms (missed cycles : 2).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786122172.01678300 seconds ×3 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-1.86, 10.53) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.98sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 11.03) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.315ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.338ms + 4.44sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786122172.57744956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.315ms + 4.83sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582297 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582297 ms (missed cycles : 3).[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.238ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.485ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.123ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.604ms + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968572 ms (missed cycles : 5). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968572 ms (missed cycles : 5).[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.918ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.827ms + 6.55sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992892 ms (missed cycles : 3). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992892 ms (missed cycles : 3).[0m ×2 + 7.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.653ms + 7.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.180ms + 7.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.787ms + 8.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512856 ms (missed cycles : 2). + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512856 ms (missed cycles : 2).[0m ×2 + 8.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.834ms + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845877 ms (missed cycles : 4). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845877 ms (missed cycles : 4).[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.004ms + 10.10sINFOamclParticle filter update iteration stats: 4694 particles 723 points - 6.310ms + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401650 ms (missed cycles : 2). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401650 ms (missed cycles : 2).[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 4477 particles 723 points - 8.321ms + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780215 ms (missed cycles : 3). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780215 ms (missed cycles : 3).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 3886 particles 723 points - 5.970ms + 11.70sINFOamclParticle filter update iteration stats: 3492 particles 723 points - 4.746ms + 12.20sINFOamclParticle filter update iteration stats: 3159 particles 723 points - 4.046ms + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287314 ms (missed cycles : 3). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287314 ms (missed cycles : 3).[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 3066 particles 723 points - 3.609ms + 13.20sINFOamclParticle filter update iteration stats: 2847 particles 723 points - 4.426ms + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900164 ms (missed cycles : 2). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900164 ms (missed cycles : 2).[0m ×2 + 13.70sINFOamclParticle filter update iteration stats: 2596 particles 723 points - 3.766ms + 14.20sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 3.764ms + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914660 ms (missed cycles : 2). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914660 ms (missed cycles : 2).[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 2355 particles 723 points - 3.177ms + 14.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.84sINFOjoint_trajectory_controllerGot request to cancel goal + 14.84sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.84sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.84sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.85sERRORobjective_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: 1786122182.98761106 seconds ×3 + 15.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.285ms + 15.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.760ms + 15.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.340ms + 15.42sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786122183.55659533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763095 ms (missed cycles : 4). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763095 ms (missed cycles : 4).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.778ms + 15.79sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 16.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.315ms + 16.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.704ms + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228993 ms (missed cycles : 3). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228993 ms (missed cycles : 3).[0m ×2 + 16.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.929ms + 16.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.753ms + 17.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.813ms + 17.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.606ms + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421659 ms (missed cycles : 3). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421659 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 38 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686146 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686146 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354199 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354199 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712662 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712662 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835618 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835618 ms (missed cycles : 2).[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 3.92sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.93sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786122080.01998901 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432313 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432313 ms (missed cycles : 2).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.023ms + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.787ms + 4.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786122080.59216070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.292ms + 4.90sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.952ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460712 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460712 ms (missed cycles : 3).[0m ×2 + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.404ms + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456610 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456610 ms (missed cycles : 3).[0m ×2 + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.262ms + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010026 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010026 ms (missed cycles : 2).[0m ×2 + 7.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.503ms + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563556 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563556 ms (missed cycles : 3).[0m ×2 + 8.60sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786122084.67231250 seconds ×3 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431229 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431229 ms (missed cycles : 3).[0m ×2 + 10.16sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786122086.23260736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.56sINFOobjective_server_nodeFound path in 0 iterations (1.175e-06 s). ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395140 ms (missed cycles : 3). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395140 ms (missed cycles : 3).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452580 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452580 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 4.9s | 35 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217918 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217918 ms (missed cycles : 2).[0m ×2 + 0.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045012 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045012 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593184 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593184 ms (missed cycles : 3).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660084 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660084 ms (missed cycles : 3).[0m ×2 + 4.20sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.20sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.25sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786122256.27676058 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811243 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811243 ms (missed cycles : 2).[0m ×2 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sWARNlocal_costmap.local_costmapSensor origin at (-0.96, 6.93) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.40sWARNlocal_costmap.local_costmapSensor origin at (-1.83, 6.71) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.888ms + 4.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.234ms + 4.82sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786122256.84386611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.345ms + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.556ms + 5.27sINFOjoint_trajectory_controllerReceived new action goal + 5.27sINFOjoint_trajectory_controllerAccepted new action goal + 5.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2).[0m ×2 + 6.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.632ms + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188367 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188367 ms (missed cycles : 2).[0m ×2 + 8.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.929ms + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247732 ms (missed cycles : 3). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247732 ms (missed cycles : 3).[0m ×2 + 9.12sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786122261.14399147 seconds ×3 + 9.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786122261.72857571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874185 ms (missed cycles : 3). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874185 ms (missed cycles : 3).[0m ×2 + 10.09sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 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 4.139120 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139120 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406047 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406047 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786548 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786548 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846012 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846012 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.67sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786122018.63250947 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786122019.19362378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984067 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984067 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281561 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281561 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeFound path in 0 iterations (2.4836e-05 s). ×2 + 5.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.37sINFOjoint_trajectory_controllerReceived new action goal + 5.37sINFOjoint_trajectory_controllerAccepted new action goal + 5.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107700 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107700 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413053 ms (missed cycles : 4). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413053 ms (missed cycles : 4).[0m ×2 + 7.47sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786122022.42374110 seconds ×3 + 8.03sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786122022.98902535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.41sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966890 ms (missed cycles : 2). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966890 ms (missed cycles : 2).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996514 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996514 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 21 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.774ms + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365032 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365032 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.957ms + 1.30sINFOamclParticle filter update iteration stats: 3565 particles 723 points - 4.802ms + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314468 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314468 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1766 particles 723 points - 3.417ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489991 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489991 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 4.02sINFOros2_control_nodeMuJoCo sim: 0.88% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175955 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175955 ms (missed cycles : 3).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786122331.86150694 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 2533 particles 723 points - 2.156ms + 4.80sINFOamclParticle filter update iteration stats: 3149 particles 723 points - 3.290ms + 4.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786122332.45123458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.81sINFOmove_groupClearing octomap...[0m ×2 + 4.81sINFOmove_groupOctomap cleared.[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 2784 particles 723 points - 4.397ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681946 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681946 ms (missed cycles : 3).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 2.962ms + 5.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786122333.07137823 seconds ×3 + 5.60sINFOamclParticle filter update iteration stats: 3367 particles 723 points - 3.200ms + 5.90sINFOamclParticle filter update iteration stats: 3191 particles 723 points - 3.696ms + 5.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786122333.62487411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOamclParticle filter update iteration stats: 3003 particles 723 points - 4.727ms + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914445 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914445 ms (missed cycles : 2).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 2648 particles 723 points - 3.119ms + 6.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786122334.16499639 seconds ×3 + 6.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.80sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.570ms + 7.20sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 2.619ms + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049867 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049867 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.58sINFOmove_groupClearing octomap...[0m ×2 + 1.59sINFOmove_groupOctomap cleared.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 5.16sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal + 5.51sINFOjoint_trajectory_controllerAccepted new action goal + 5.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139120 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139120 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406047 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406047 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786548 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786548 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846012 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846012 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786122018.63250947 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786122019.19362378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984067 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984067 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281561 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281561 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeFound path in 0 iterations (2.4836e-05 s). ×2 + 5.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.37sINFOjoint_trajectory_controllerReceived new action goal + 5.37sINFOjoint_trajectory_controllerAccepted new action goal + 5.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107700 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107700 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.74sINFOmove_groupOctomap cleared.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.66sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 50 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786122018.63250947 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786122019.19362378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984067 ms (missed cycles : 3). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984067 ms (missed cycles : 3).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281561 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281561 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeFound path in 0 iterations (2.4836e-05 s). ×2 + 1.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.70sINFOjoint_trajectory_controllerReceived new action goal + 1.70sINFOjoint_trajectory_controllerAccepted new action goal + 1.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107700 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107700 ms (missed cycles : 3).[0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413053 ms (missed cycles : 4). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413053 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786122022.42374110 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786122022.98902535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966890 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966890 ms (missed cycles : 2).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996514 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996514 ms (missed cycles : 2).[0m ×2 | ||||
| − 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 2.686146 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686146 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354199 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354199 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712662 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712662 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835618 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835618 ms (missed cycles : 2).[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786122080.01998901 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432313 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432313 ms (missed cycles : 2).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.023ms + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.787ms + 4.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786122080.59216070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.292ms + 4.90sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.952ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460712 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460712 ms (missed cycles : 3).[0m ×2 + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.404ms + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456610 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456610 ms (missed cycles : 3).[0m ×2 + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.262ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.74sINFOmove_groupOctomap cleared.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.66sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 18 warnings · 36 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.556ms + 0.36sINFOjoint_trajectory_controllerReceived new action goal + 0.36sINFOjoint_trajectory_controllerAccepted new action goal + 0.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3).[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.632ms + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188367 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188367 ms (missed cycles : 2).[0m ×2 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.929ms + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247732 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247732 ms (missed cycles : 3).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786122261.14399147 seconds ×3 + 4.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786122261.72857571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874185 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874185 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 18 warnings · 36 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.556ms + 0.36sINFOjoint_trajectory_controllerReceived new action goal + 0.36sINFOjoint_trajectory_controllerAccepted new action goal + 0.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3).[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.632ms + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188367 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188367 ms (missed cycles : 2).[0m ×2 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.929ms + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247732 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247732 ms (missed cycles : 3).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786122261.14399147 seconds ×3 + 4.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786122261.72857571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874185 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874185 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 18 warnings · 36 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.556ms + 0.36sINFOjoint_trajectory_controllerReceived new action goal + 0.36sINFOjoint_trajectory_controllerAccepted new action goal + 0.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3).[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.632ms + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188367 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188367 ms (missed cycles : 2).[0m ×2 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.929ms + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247732 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247732 ms (missed cycles : 3).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786122261.14399147 seconds ×3 + 4.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786122261.72857571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874185 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874185 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 18 warnings · 36 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.556ms + 0.36sINFOjoint_trajectory_controllerReceived new action goal + 0.36sINFOjoint_trajectory_controllerAccepted new action goal + 0.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3).[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.632ms + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188367 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188367 ms (missed cycles : 2).[0m ×2 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.929ms + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247732 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247732 ms (missed cycles : 3).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786122261.14399147 seconds ×3 + 4.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786122261.72857571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874185 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874185 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 18 warnings · 36 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.556ms + 0.36sINFOjoint_trajectory_controllerReceived new action goal + 0.36sINFOjoint_trajectory_controllerAccepted new action goal + 0.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3).[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.632ms + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188367 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188367 ms (missed cycles : 2).[0m ×2 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.929ms + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247732 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247732 ms (missed cycles : 3).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786122261.14399147 seconds ×3 + 4.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786122261.72857571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874185 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874185 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 18 warnings · 36 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.556ms + 0.36sINFOjoint_trajectory_controllerReceived new action goal + 0.36sINFOjoint_trajectory_controllerAccepted new action goal + 0.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3).[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.632ms + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188367 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188367 ms (missed cycles : 2).[0m ×2 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.929ms + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247732 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247732 ms (missed cycles : 3).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786122261.14399147 seconds ×3 + 4.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786122261.72857571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874185 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874185 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 18 warnings · 36 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.556ms + 0.36sINFOjoint_trajectory_controllerReceived new action goal + 0.36sINFOjoint_trajectory_controllerAccepted new action goal + 0.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733584 ms (missed cycles : 3).[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411698 ms (missed cycles : 2).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.632ms + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188367 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188367 ms (missed cycles : 2).[0m ×2 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.929ms + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247732 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247732 ms (missed cycles : 3).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786122261.14399147 seconds ×3 + 4.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786122261.72857571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874185 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874185 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016717 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139120 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139120 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406047 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406047 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786548 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786548 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846012 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846012 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786122018.63250947 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786122019.19362378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984067 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984067 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281561 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281561 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeFound path in 0 iterations (2.4836e-05 s). ×2 + 5.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.37sINFOjoint_trajectory_controllerReceived new action goal + 5.37sINFOjoint_trajectory_controllerAccepted new action goal + 5.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107700 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107700 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 2.686146 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686146 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354199 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354199 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712662 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712662 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835618 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835618 ms (missed cycles : 2).[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786122080.01998901 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432313 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432313 ms (missed cycles : 2).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.023ms + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.787ms + 4.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786122080.59216070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.292ms + 4.90sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.952ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460712 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460712 ms (missed cycles : 3).[0m ×2 + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.404ms + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456610 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456610 ms (missed cycles : 3).[0m ×2 + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.262ms | ||||
| − 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 2.686146 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686146 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354199 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354199 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712662 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712662 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835618 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835618 ms (missed cycles : 2).[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786122080.01998901 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432313 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432313 ms (missed cycles : 2).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.023ms + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.787ms + 4.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786122080.59216070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.292ms + 4.90sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.952ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460712 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460712 ms (missed cycles : 3).[0m ×2 + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.404ms + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456610 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456610 ms (missed cycles : 3).[0m ×2 + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.262ms | ||||
| − 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 2.686146 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686146 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354199 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354199 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712662 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712662 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835618 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835618 ms (missed cycles : 2).[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786122080.01998901 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432313 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432313 ms (missed cycles : 2).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.023ms + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.787ms + 4.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786122080.59216070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.292ms + 4.90sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.952ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460712 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460712 ms (missed cycles : 3).[0m ×2 + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.404ms + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456610 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456610 ms (missed cycles : 3).[0m ×2 + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.262ms | ||||
| − 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 2.686146 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686146 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354199 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354199 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712662 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712662 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835618 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835618 ms (missed cycles : 2).[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786122080.01998901 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432313 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432313 ms (missed cycles : 2).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.023ms + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.787ms + 4.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786122080.59216070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.292ms + 4.90sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.952ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460712 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460712 ms (missed cycles : 3).[0m ×2 + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.404ms + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456610 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456610 ms (missed cycles : 3).[0m ×2 + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.262ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 23 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215862 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215862 ms (missed cycles : 2).[0m ×2 + 0.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998492 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998492 ms (missed cycles : 4).[0m ×2 + 1.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311662 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311662 ms (missed cycles : 4).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238606 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238606 ms (missed cycles : 4).[0m ×2 + 3.80sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786122117.06273866 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.87) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.716ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097819 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097819 ms (missed cycles : 2).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.928ms + 4.42sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786122117.62664795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.329ms + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.760ms + 5.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.942ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020052 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020052 ms (missed cycles : 4).[0m ×2 + 5.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.678ms + 5.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.001ms + 6.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.440ms + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965295 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965295 ms (missed cycles : 3).[0m ×2 + 6.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.467ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 23 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215862 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215862 ms (missed cycles : 2).[0m ×2 + 0.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998492 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998492 ms (missed cycles : 4).[0m ×2 + 1.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311662 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311662 ms (missed cycles : 4).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238606 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238606 ms (missed cycles : 4).[0m ×2 + 3.80sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786122117.06273866 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.87) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.716ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097819 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097819 ms (missed cycles : 2).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.928ms + 4.42sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786122117.62664795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.329ms + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.760ms + 5.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.942ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020052 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020052 ms (missed cycles : 4).[0m ×2 + 5.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.678ms + 5.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.001ms + 6.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.440ms + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965295 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965295 ms (missed cycles : 3).[0m ×2 + 6.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.467ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 23 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215862 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215862 ms (missed cycles : 2).[0m ×2 + 0.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998492 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998492 ms (missed cycles : 4).[0m ×2 + 1.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311662 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311662 ms (missed cycles : 4).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238606 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238606 ms (missed cycles : 4).[0m ×2 + 3.80sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786122117.06273866 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.92sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.87) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.716ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097819 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097819 ms (missed cycles : 2).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.928ms + 4.42sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786122117.62664795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.329ms + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.760ms + 5.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.942ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020052 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020052 ms (missed cycles : 4).[0m ×2 + 5.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.678ms + 5.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.001ms + 6.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.440ms + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965295 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965295 ms (missed cycles : 3).[0m ×2 + 6.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.467ms | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.74sINFOmove_groupOctomap cleared.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.66sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.774ms + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365032 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365032 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.957ms + 1.30sINFOamclParticle filter update iteration stats: 3565 particles 723 points - 4.802ms + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314468 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314468 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1766 particles 723 points - 3.417ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489991 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489991 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 4.02sINFOros2_control_nodeMuJoCo sim: 0.88% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175955 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175955 ms (missed cycles : 3).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786122331.86150694 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 2533 particles 723 points - 2.156ms + 4.80sINFOamclParticle filter update iteration stats: 3149 particles 723 points - 3.290ms + 4.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786122332.45123458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.81sINFOmove_groupClearing octomap...[0m ×2 + 4.81sINFOmove_groupOctomap cleared.[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 2784 particles 723 points - 4.397ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681946 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681946 ms (missed cycles : 3).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 2.962ms + 5.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786122333.07137823 seconds ×3 + 5.60sINFOamclParticle filter update iteration stats: 3367 particles 723 points - 3.200ms + 5.90sINFOamclParticle filter update iteration stats: 3191 particles 723 points - 3.696ms + 5.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786122333.62487411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOamclParticle filter update iteration stats: 3003 particles 723 points - 4.727ms + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914445 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914445 ms (missed cycles : 2).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 2648 particles 723 points - 3.119ms + 6.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786122334.16499639 seconds ×3 + 6.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.80sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.570ms | ||||
| − 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 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/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 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.74sINFOmove_groupOctomap cleared.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.66sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.74sINFOmove_groupOctomap cleared.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.66sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.74sINFOmove_groupOctomap cleared.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 5.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.66sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.74sINFOmove_groupOctomap cleared.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.66sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.74sINFOmove_groupOctomap cleared.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.66sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066630 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.74sINFOmove_groupOctomap cleared.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_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 + 5.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.66sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[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 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603637 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047357 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869970 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121972.99788761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.66sINFOmove_groupClearing octomap...[0m ×2 + 2.66sINFOmove_groupOctomap cleared.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121973.00807333 seconds ×3 + 3.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121973.57675266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121973.58686519 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256657 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121974.13806653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121974.28856683 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945120 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121974.87390256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.54sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121974.93402886 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786121975.50046778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516711 ms (missed cycles : 2).[0m ×2 + 6.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312036 ms (missed cycles : 3).[0m ×2 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||