69
Total objective tests
18
Objectives passed
0
Objectives failed
51
Objectives skipped
22.6s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 31.5s | 12 errors · 310 warnings · 1398 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/2026-08-14-10-29-04-285861-8f7486670605-9451 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.37sINFOstatic_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' + 13.38sINFOstatic_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' + 13.43sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.44sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 13.44sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.45sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.45sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.45sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.45sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 13.46sINFOcontroller_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. + 13.46sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 13.46sINFOcontroller_managerupdate rate is 600 Hz + 13.46sINFOcontroller_managerOverruns handling is : enabled + 13.46sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.46sWARNcontroller_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. + 13.46sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.49sINFOcontroller_serverCreating controller server + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534817 ms (missed cycles : 3). + 13.49sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.49sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.49sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.49sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.49sINFOlocal_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. + 13.50sINFOlocal_costmap.local_costmapCreating Costmap + 13.51sINFOmap_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. + 13.51sINFOmap_serverCreating + 13.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 13.65sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.65sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 13.67sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.67sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.68sINFOsmoother_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. + 13.70sINFOsmoother_serverCreating smoother server + 13.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 13.73sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.74sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 13.74sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 13.74sINFOplanner_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. + 13.74sINFOros2_control_node-9process started with pid [9509] ×2 + 13.75sINFOmove_group-21process started with pid [9619] ×2 + 13.75sINFOparameter_manager_node-22process started with pid [9620] ×2 + 13.75sINFOwaypoint_manager_node-23process started with pid [9621] ×2 + 13.75sINFOmove_joint_resampler_node-24process started with pid [9626] ×2 + 13.75sINFOmove_end_effector_resampler_node-25process started with pid [9627] ×2 + 13.75sINFOobjective_server_node_main-26process started with pid [9628] ×2 + 13.75sINFOcomponent_container_mt-27process started with pid [9629] ×2 + 13.75sINFOcomponent_container_mt-28process started with pid [9631] ×2 + 13.75sINFOlifecycle_manager_localizationCreating + 13.75sINFOexecute_objective_bridge-29process started with pid [9632] ×2 + 13.75sINFOui_teleop_bridge-30process started with pid [9633] ×2 + 13.76sINFOweb_bridge-31process started with pid [9635] ×2 + 13.76sINFOtf2_web_republisher_node-32process started with pid [9639] ×2 + 13.76sINFOvideo_server-33process started with pid [9640] ×2 + 13.76sINFOweb_bridge_auth_proxy-34process started with pid [9641] ×2 + 13.76sINFOweb_video_auth_proxy-35process started with pid [9642] ×2 + 13.77sINFOplanner_serverCreating + 13.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 13.78sINFOcomponent_container_isolated-1process started with pid [9501] ×2 + 13.78sINFOcomponent_container_isolated-2process started with pid [9502] ×2 + 13.78sINFOstatic_transform_publisher-3process started with pid [9503] ×2 + 13.78sINFOstatic_transform_publisher-4process started with pid [9504] ×2 + 13.78sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.78sINFOodom_qos_relay.py-5process started with pid [9505] ×2 + 13.78sINFOforward_stereo_publisher.py-6process started with pid [9506] ×2 + 13.79sINFOscan_to_scan_filter_chain-7process started with pid [9507] ×2 + 13.79sINFOscan_to_scan_filter_chain-8process started with pid [9508] ×2 + 13.79sINFOros2-10process started with pid [9608] ×2 + 13.79sINFOros2-11process started with pid [9609] ×2 + 13.79sINFOros2-12process started with pid [9610] ×2 + 13.79sINFOros2-13process started with pid [9611] ×2 + 13.79sINFOros2-14process started with pid [9612] ×2 + 13.79sINFOros2-15process started with pid [9613] ×2 + 13.79sINFOros2-16process started with pid [9614] ×2 + 13.79sINFOros2-17process started with pid [9615] ×2 + 13.79sINFOros2-18process started with pid [9616] ×2 + 13.79sINFOros2-19process started with pid [9617] ×2 + 13.79sINFOros2-20process started with pid [9618] ×2 + 13.79sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.79sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.79sINFOmap_serverConfiguring + 13.81sINFOglobal_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. + 13.81sINFOglobal_costmap.global_costmapCreating Costmap + 13.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.84sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.85sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.87sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 13.87sINFOamclConfiguring + 13.87sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 13.87sINFOmap_serverActivating + 13.87sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 13.87sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 13.88sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.88sINFObehavior_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. + 13.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.92sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 13.94sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 13.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 13.94sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 13.94sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 13.94sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 13.94sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 13.95sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 13.95sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.95sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.95sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.95sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.95sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.95sWARNros2_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 + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534817 ms (missed cycles : 3).[0m ×2 + 13.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.96sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.97sINFOcontroller_managerReceived robot description from topic. + 13.98sINFOlifecycle_manager_localizationServer map_server connected with bond. + 13.98sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 13.98sINFOamclActivating + 13.98sINFOamclSubscribed to initial_pose_topic: /initialpose + 13.98sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 13.98sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.99sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 13.99sINFObt_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. + 13.99sINFOamclSubscribed to map_topic: /map + 14.00sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.00sINFOrobot_state_publisherRobot initialized + 14.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.00sINFOamclSubscribed to scan_topic: /scan_merged + 14.00sINFOamclCreated reinitialize_global_localization service + 14.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.00sINFOamclCreated request_nomotion_update service + 14.01sINFOamclA new map was received + 14.01sINFOamclInitializing particle filter instance + 14.01sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.02sINFObt_navigatorCreating + 14.03sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.03sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.04sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.04sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.05sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.08sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.08sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.08sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.08sINFOwaypoint_followerCreating + 14.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.10sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.12sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.15sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.16sINFOvelocity_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. + 14.16sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.19sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.23sINFOlifecycle_manager_navigationCreating + 14.26sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.27sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.27sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.27sINFOcontroller_serverConfiguring controller interface + 14.27sINFOcontroller_servergetting progress checker plugins.. + 14.27sINFOcontroller_servergetting goal checker plugins.. + 14.27sINFOcontroller_serverController frequency set to 20.0000Hz + 14.27sINFOlocal_costmap.local_costmapConfiguring + 14.28sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.30sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.33sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.33sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.33sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.38sWARNlaser_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. + 14.38sWARNlaser_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. + 14.38sWARNscan_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 + 14.38sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.38sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.39sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.39sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.40sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.42sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.45sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.45sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.45sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.45sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.45sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.45sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.46sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.46sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.48sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.48sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.48sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.49sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.49sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800222 ms (missed cycles : 3). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800222 ms (missed cycles : 3).[0m ×2 + 14.50sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.50sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.51sINFOcontroller_serverOptimizer reset ×2 + 14.52sINFOcontroller_serverController Server has FollowPath controllers available. + 14.54sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.54sINFOsmoother_serverConfiguring smoother server + 14.54sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.558803 seconds + 14.54sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.54sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.55sINFOmove_groupLoaded robot model in 0.558803 seconds[0m ×2 + 14.55sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.55sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.55sINFOvideo_server2026/08/14 10:29:22 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.56sINFOvideo_server2026/08/14 10:29:22 INF configuration loaded from /tmp/moveit-webrtc-qli8rwk3/mediamtx.yml ×2 + 14.56sINFOvideo_server2026/08/14 10:29:22 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.56sINFOvideo_server2026/08/14 10:29:22 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.57sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.58sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.59sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.59sINFOplanner_serverConfiguring + 14.59sINFOglobal_costmap.global_costmapConfiguring + 14.61sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.62sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.62sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.62sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.62sINFOwaypoint_manager_nodeLoaded robot model in 0.338065 seconds[0m ×2 + 14.62sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 14.62sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.63sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.64sINFOamclParticle filter initialization completed + 14.65sINFOamclInitializing particles from estimated pose and covariance + 14.65sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 14.68sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.68sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.68sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.68sINFOlifecycle_manager_localizationServer amcl connected with bond. + 14.68sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 14.68sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 14.72sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.72sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 14.75sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 14.75sINFOplanner_serverPlanner Server has GridBased planners available. + 14.76sINFOamclThe bond connection to the lifecycle manager is now fully formed + 14.79sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 14.80sINFObehavior_serverConfiguring + 14.80sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 14.80sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 14.82sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 14.82sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 14.84sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 14.85sINFObehavior_serverConfiguring spin + 14.87sINFObehavior_serverConfiguring backup + 14.89sINFObehavior_serverConfiguring drive_on_heading + 14.90sINFObehavior_serverConfiguring assisted_teleop + 14.92sINFObehavior_serverConfiguring wait + 14.94sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 14.94sINFObt_navigatorConfiguring + 14.95sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 14.97sWARNbt_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 + 15.19sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.28sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 15.28sINFOwaypoint_followerConfiguring + 15.32sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 15.33sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 15.33sINFOvelocity_smootherConfiguring velocity smoother + 15.33sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 15.33sINFOcontroller_serverActivating + 15.33sINFOlocal_costmap.local_costmapActivating + 15.33sINFOlocal_costmap.local_costmapChecking transform + 15.33sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×6 + 15.65sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.65sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.65sWARNmove_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. + 15.65sWARNmove_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. + 15.65sWARNmove_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 + 15.65sWARNmove_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 + 15.65sWARNmove_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. + 15.66sWARNmove_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. + 15.66sWARNmove_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 + 15.66sWARNmove_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 + 15.66sWARNmove_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. + 15.66sWARNmove_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. + 15.66sWARNmove_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 + 15.66sWARNmove_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 + 15.66sWARNmove_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. + 15.67sWARNmove_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 + 15.67sWARNmove_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. + 15.67sWARNmove_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 + 15.68sWARNmove_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. + 15.68sWARNmove_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. + 15.68sWARNmove_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 + 15.68sWARNmove_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 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521245 ms (missed cycles : 4). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521245 ms (missed cycles : 4).[0m ×2 + 15.74sWARNwaypoint_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. + 15.75sWARNwaypoint_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. + 15.75sWARNwaypoint_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. + 15.75sWARNwaypoint_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. + 15.75sWARNwaypoint_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 + 15.75sWARNwaypoint_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. + 15.75sWARNwaypoint_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. + 15.75sWARNwaypoint_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. + 15.75sWARNwaypoint_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. + 15.75sWARNwaypoint_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 + 15.75sWARNwaypoint_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 + 15.75sWARNwaypoint_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. + 15.76sWARNwaypoint_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. + 15.76sWARNwaypoint_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 + 15.76sWARNwaypoint_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 + 15.76sWARNwaypoint_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. + 15.76sWARNwaypoint_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. + 15.76sWARNwaypoint_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. + 15.76sWARNwaypoint_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. + 15.76sWARNwaypoint_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. + 15.77sWARNwaypoint_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 + 15.77sWARNwaypoint_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 + 15.77sWARNwaypoint_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 + 15.77sWARNwaypoint_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. + 15.77sWARNwaypoint_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 + 15.77sWARNwaypoint_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 + 15.77sWARNwaypoint_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. + 15.77sWARNwaypoint_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 + 15.77sWARNwaypoint_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 + 15.77sWARNwaypoint_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 + 15.77sWARNwaypoint_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 + 15.77sWARNwaypoint_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. + 15.77sWARNwaypoint_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 + 15.77sWARNwaypoint_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 + 15.77sWARNwaypoint_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. + 15.77sWARNwaypoint_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. + 15.77sWARNwaypoint_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 + 15.77sWARNwaypoint_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 + 15.77sWARNwaypoint_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. + 15.78sWARNwaypoint_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. + 15.78sWARNwaypoint_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. + 15.78sWARNwaypoint_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. + 15.78sWARNwaypoint_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. + 15.78sWARNwaypoint_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 + 15.78sWARNwaypoint_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 + 15.78sWARNwaypoint_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. + 15.79sWARNwaypoint_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. + 15.79sWARNwaypoint_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. + 15.79sWARNwaypoint_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 + 15.79sWARNwaypoint_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 + 15.80sWARNwaypoint_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 + 15.80sWARNwaypoint_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 + 15.80sWARNwaypoint_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 + 15.80sWARNwaypoint_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 + 15.81sWARNwaypoint_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 + 15.81sWARNwaypoint_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 + 15.96sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 15.97sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 15.97sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 15.97sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.08sINFOmove_group[2026-08-14 10:29:23.674] [moveit_pro_license] [info] ×2 + 16.08sINFOmove_group************************************************* ×4 + 16.08sINFOmove_group* MoveIt Pro License ×2 + 16.08sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.17sINFOwaypoint_manager_node[2026-08-14 10:29:23.759] [moveit_pro_license] [info] ×2 + 16.17sINFOwaypoint_manager_node************************************************* ×4 + 16.17sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.17sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.36sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 16.36sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.55sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 16.55sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 16.55sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 16.55sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 16.55sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 16.55sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 16.55sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 16.55sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 16.56sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.56sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 16.56sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 16.56sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 16.56sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 16.57sINFOmove_groupStarting planning scene monitor[0m ×2 + 16.57sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 16.57sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 16.57sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 16.57sINFOmove_groupListening to '/planning_scene'[0m ×2 + 16.57sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 16.57sINFOmove_groupListening to 'collision_object'[0m ×2 + 16.57sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 16.57sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 16.84sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 16.84sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.85sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.11sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.11sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.11sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.11sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.11sWARNros2_control_node23 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 17.11sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 17.11sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 17.11sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 17.11sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 17.11sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 17.11sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 17.11sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.11sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 17.11sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 17.11sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.11sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 17.11sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.11sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.11sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.11sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 17.11sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.11sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.11sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 17.11sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 17.11sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 17.11sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 17.11sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 17.11sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 17.11sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.11sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.11sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 17.11sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.11sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.11sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.11sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.11sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.11sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.11sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.11sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.11sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.11sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.11sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.11sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.12sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.12sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.12sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.12sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.12sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.12sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 17.12sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 17.12sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 17.12sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714869 ms (missed cycles : 2). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714869 ms (missed cycles : 2).[0m ×2 + 17.13sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 + 17.13sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 [0m ×2 + 17.14sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.14sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.15sWARNros2_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 + 17.17sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 17.17sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 17.17sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 17.18sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 17.18sINFOplatform_velocity_controllerconfigure successful + 17.18sINFOros2_control_nodeconfigure successful[0m ×6 + 17.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 17.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 17.18sINFOcontroller_managerSuccessfully switched controllers! ×19 + 17.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 17.19sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 17.19sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 17.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.34sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 17.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 17.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.35sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 17.39sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 17.39sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 17.39sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 17.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 17.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.40sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.41sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.43sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 17.43sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 17.43sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 17.43sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 17.43sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 17.43sINFOstreaming_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) + 17.43sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 17.43sINFOcomponent_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 + 17.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 17.44sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 17.44sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 17.51sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 17.51sINFOcontroller_managerLoading controller 'vacuum_gripper' + 17.52sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 17.52sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 17.52sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 + 17.52sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 [0m ×2 + 17.52sINFOros2-13process has finished cleanly [pid 9611] ×2 + 17.54sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 17.54sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 17.56sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 17.56sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 17.56sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.57sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.58sWARNcomponent_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 + 17.59sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 17.59sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 17.59sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 17.59sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 17.59sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 17.59sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 17.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 17.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 17.61sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 17.61sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 17.64sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 17.65sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 17.65sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 17.65sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 17.66sINFOstreaming_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) + 17.66sINFOcomponent_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 + 17.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 17.67sINFOobjective_server_node[2026-08-14 10:29:25.271] [moveit_pro_license] [info] ×2 + 17.67sINFOobjective_server_node************************************************* ×4 + 17.67sINFOobjective_server_node* MoveIt Pro License ×2 + 17.67sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.74sINFOobjective_server_nodeLoaded robot model in 0.0287616 seconds[0m ×2 + 17.74sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 17.74sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.91sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 17.91sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 17.91sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 17.91sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 17.91sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 + 17.91sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 [0m ×2 + 17.94sINFOros2-14process has finished cleanly [pid 9612] ×2 + 17.95sINFOcomponent_container_mtLoaded robot model in 0.36894 seconds[0m ×2 + 17.95sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 17.95sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.98sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 17.99sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339803 ms (missed cycles : 2). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339803 ms (missed cycles : 2).[0m ×2 + 18.16sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.16sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.16sWARNobjective_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. + 18.16sWARNobjective_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. + 18.16sWARNobjective_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. + 18.16sWARNobjective_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. + 18.16sWARNobjective_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. + 18.16sWARNobjective_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 + 18.16sWARNobjective_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 + 18.16sWARNobjective_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 + 18.16sWARNobjective_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. + 18.16sWARNobjective_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 + 18.16sWARNobjective_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. + 18.16sWARNobjective_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. + 18.17sWARNobjective_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 + 18.17sWARNobjective_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 + 18.17sWARNobjective_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. + 18.17sWARNobjective_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. + 18.17sWARNobjective_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 + 18.17sWARNobjective_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 + 18.17sWARNobjective_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 + 18.17sWARNobjective_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 + 18.19sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 18.19sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 18.19sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 18.19sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 18.20sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 18.20sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 18.20sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 18.20sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 18.21sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.23sINFOobjective_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 + 18.23sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.24sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.24sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.24sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.24sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.24sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.24sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.24sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.33sWARNplanning_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. + 18.33sWARNplanning_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. + 18.33sWARNcomponent_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 + 18.33sWARNplanning_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. + 18.33sWARNplanning_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. + 18.33sWARNplanning_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. + 18.33sWARNplanning_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. + 18.33sWARNcomponent_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 + 18.33sWARNcomponent_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 + 18.33sWARNcomponent_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 + 18.33sWARNplanning_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. + 18.33sWARNplanning_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. + 18.33sWARNcomponent_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 + 18.33sWARNcomponent_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 + 18.33sWARNcomponent_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 + 18.33sWARNcomponent_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 + 18.33sWARNplanning_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. + 18.33sWARNplanning_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. + 18.33sWARNcomponent_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 + 18.33sWARNplanning_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. + 18.33sWARNcomponent_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 + 18.33sWARNplanning_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. + 18.33sWARNplanning_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. + 18.33sWARNplanning_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. + 18.33sWARNcomponent_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 + 18.33sWARNcomponent_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 + 18.33sWARNcomponent_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 + 18.33sINFOlocal_costmap.local_costmapstart + 18.33sWARNplanning_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. + 18.33sWARNplanning_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. + 18.33sWARNcomponent_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 + 18.33sWARNplanning_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. + 18.33sWARNcomponent_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 + 18.33sWARNplanning_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. + 18.34sWARNplanning_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. + 18.34sWARNplanning_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. + 18.34sWARNplanning_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. + 18.34sWARNplanning_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. + 18.34sWARNplanning_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. + 18.34sWARNplanning_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. + 18.34sWARNplanning_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. + 18.34sWARNplanning_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. + 18.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.34sWARNcomponent_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 + 18.34sWARNcomponent_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 + 18.34sWARNcomponent_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 + 18.34sWARNcomponent_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 + 18.34sWARNcomponent_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 + 18.34sWARNcomponent_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 + 18.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.35sWARNcomponent_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 + 18.35sWARNcomponent_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 + 18.35sWARNcomponent_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 + 18.35sWARNcomponent_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 + 18.35sWARNcomponent_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 + 18.35sWARNcomponent_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 + 18.36sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786703364.838 for reason 'discarding message because the queue is full' + 18.36sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 4.557ms + 18.44sWARNcontroller_serverParameter controller_server.verbose not found + 18.44sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 18.44sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 18.52sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.52sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 18.52sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.52sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 18.54sINFOros2-12process has finished cleanly [pid 9610] ×2 + 18.55sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 18.55sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 18.55sINFOsmoother_serverActivating + 18.55sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 18.61sINFOcomponent_container_mt[2026-08-14 10:29:26.211] [moveit_pro_license] [info] ×2 + 18.61sINFOcomponent_container_mt************************************************* ×4 + 18.61sINFOcomponent_container_mt* MoveIt Pro License ×2 + 18.61sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.64sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 + 18.65sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 [0m ×2 + 18.65sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 18.65sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 18.65sINFOplanner_serverActivating + 18.65sINFOglobal_costmap.global_costmapActivating + 18.65sINFOglobal_costmap.global_costmapChecking transform + 18.65sINFOglobal_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 1786703366.210923 but the earliest data is at time 1786703366.837677, when looking up transform from frame [ridgeback_base_link] to frame [map] + 18.66sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 18.66sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 18.71sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 18.71sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 18.72sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 18.72sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 18.74sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.74sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.76sINFOmove_groupMoveGroup debug mode is ON + 18.76sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.76sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.82sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.82sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.82sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.82sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.83sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.83sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.83sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.87sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.92sINFOmove_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
********************************************************
+ 18.92sINFOmove_group ×8 + 18.92sINFOmove_group******************************************************** ×4 + 18.92sINFOmove_group* MoveGroup using: ×2 + 18.92sINFOmove_group* - apply_planning_scene_service ×2 + 18.92sINFOmove_group* - clear_octomap_service ×2 + 18.92sINFOmove_group* - get_group_urdf ×2 + 18.92sINFOmove_group* - load_geometry_from_file ×2 + 18.92sINFOmove_group* - get_planning_scene_service ×2 + 18.92sINFOmove_group* - kinematics_service ×2 + 18.92sINFOmove_group* - save_geometry_to_file ×2 + 18.92sINFOmove_group* - GetPlanningGroups ×2 + 18.92sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.92sINFOmove_group[0m ×2 + 18.93sINFOmove_group[92mYou can start planning now![0m ×2 + 18.98sWARNros2_control_nodeCamera render tick took 0.72 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 + 19.04sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.04sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.12sINFOros2_control_node[2026-08-14 10:29:26.720] [info] Controller state will be published at 20 Hz. ×2 + 19.12sINFOros2_control_node[2026-08-14 10:29:26.722] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.15sINFOglobal_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 1786703366.720880 but the earliest data is at time 1786703366.837677, when looking up transform from frame [ridgeback_base_link] to frame [map] + 19.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067740 ms (missed cycles : 2). + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067740 ms (missed cycles : 2).[0m ×2 + 19.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.21sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 19.46sINFOros2-20process has finished cleanly [pid 9618] ×2 + 19.47sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 19.47sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 19.47sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 19.47sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 19.58sWARNobjective_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 + 19.61sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 + 19.61sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 [0m ×2 + 19.65sINFOglobal_costmap.global_costmapstart + 19.68sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 19.68sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 19.68sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 19.68sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 20.02sINFOros2_control_node[2026-08-14 10:29:27.624] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 20.02sINFOros2_control_node[2026-08-14 10:29:27.627] [info] Controller state will be published at 10 Hz. ×2 + 20.03sINFOros2_control_node[2026-08-14 10:29:27.628] [info] VelocityForceController 'on_configure' succeeded. ×2 + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625767 ms (missed cycles : 3). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625767 ms (missed cycles : 3).[0m ×2 + 20.37sINFOros2-18process has finished cleanly [pid 9616] ×2 + 20.38sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 20.38sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 20.38sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 20.38sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 20.38sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 + 20.38sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 [0m ×2 + 20.44sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 20.44sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 20.44sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 20.44sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 20.44sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 20.44sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 20.45sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 20.45sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 20.50sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 20.71sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 20.71sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 20.79sINFOros2-11process has finished cleanly [pid 9609] ×2 + 20.81sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 20.81sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 20.81sINFObehavior_serverActivating + 20.81sINFObehavior_serverActivating spin + 20.81sINFObehavior_serverActivating backup + 20.81sINFObehavior_serverActivating drive_on_heading + 20.81sINFObehavior_serverActivating assisted_teleop + 20.81sINFObehavior_serverActivating wait + 20.81sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 20.82sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 20.82sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 20.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 20.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 20.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 + 20.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 [0m ×2 + 20.90sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 20.90sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.90sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 20.90sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 20.91sINFOforce_torque_sensor_broadcasterconfigure successful + 20.91sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 20.91sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 20.92sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 20.92sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.92sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 20.92sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 20.92sINFObt_navigatorActivating + 20.99sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 21.10sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 21.10sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 21.10sINFOwaypoint_followerActivating + 21.10sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 21.20sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 21.20sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 21.20sINFOvelocity_smootherActivating + 21.20sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 21.25sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 21.25sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 21.25sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 21.25sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 + 21.25sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 21.25sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 [0m ×2 + 21.26sINFOros2-10process has finished cleanly [pid 9608] ×2 + 21.31sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 21.31sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 21.31sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 21.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694381 ms (missed cycles : 3). + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694381 ms (missed cycles : 3).[0m ×2 + 21.32sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 21.32sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 21.32sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 21.32sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 21.32sINFOplatform_velocity_controller_nav2configure successful + 21.65sINFOros2-15process has finished cleanly [pid 9613] ×2 + 21.68sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 21.68sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 21.68sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 21.68sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 21.68sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 + 21.68sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 [0m ×2 + 21.78sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 21.78sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 21.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 21.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 21.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 21.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 21.79sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 21.79sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 21.79sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 21.79sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 21.79sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 21.79sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 21.79sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 21.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 21.80sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 22.18sINFOros2-16process has finished cleanly [pid 9614] ×2 + 22.18sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 22.18sINFOcontroller_managerLoading controller 'velocity_force_controller' + 22.18sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 22.18sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 + 22.18sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 22.18sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 [0m ×2 + 22.25sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 22.25sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 22.25sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 22.25sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683239 ms (missed cycles : 2). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683239 ms (missed cycles : 2).[0m ×2 + 22.64sINFOros2_control_node[2026-08-14 10:29:30.241] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 22.64sINFOros2_control_node[2026-08-14 10:29:30.242] [info] Controller state will be published at 10 Hz. ×2 + 22.64sINFOros2_control_node[2026-08-14 10:29:30.243] [info] VelocityForceController 'on_configure' succeeded. ×2 + 23.00sINFOros2-17process has finished cleanly [pid 9615] ×2 + 23.04sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 23.04sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 23.04sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 + 23.04sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 23.04sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 23.04sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4rppfy3u --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__3kk4fub --params-file /tmp/launch_params_49_d1pe0 [0m ×2 + 23.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 23.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 23.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 23.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 23.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250102 ms (missed cycles : 2). + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250102 ms (missed cycles : 2).[0m ×2 + 23.49sINFOros2_control_node[2026-08-14 10:29:31.090] [info] Controller state will be published at 20 Hz. ×2 + 23.49sINFOros2_control_node[2026-08-14 10:29:31.091] [info] JointVelocityController 'on_configure' succeeded. ×2 + 23.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 23.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 23.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 23.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 23.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 23.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 23.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 23.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 23.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 23.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 23.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 23.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 23.82sINFOros2-19process has finished cleanly [pid 9617] ×2 + 24.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398818 ms (missed cycles : 2). + 24.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398818 ms (missed cycles : 2).[0m ×2 + 25.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2). + 25.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2).[0m ×2 + 26.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 26.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 27.15sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 27.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 27.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 28.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 28.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 28.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 28.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 28.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 28.81sINFOmove_groupClearing octomap...[0m ×2 + 28.81sINFOmove_groupOctomap cleared.[0m ×2 + 28.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 29.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 29.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 29.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 29.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 30.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.79sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 30.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 30.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 30.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 30.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 30.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 30.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 30.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 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 | 73.0s | 3 errors · 235 warnings · 240 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604954 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604954 ms (missed cycles : 3).[0m ×2 + 0.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.536ms + 0.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.089ms + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.400ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102907 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102907 ms (missed cycles : 2).[0m ×2 + 1.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.061ms + 2.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.458ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159882 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159882 ms (missed cycles : 2).[0m ×2 + 2.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.512ms + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.405ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357016 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357016 ms (missed cycles : 3).[0m ×2 + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.703ms + 3.90sINFOobjective_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 + 3.91sINFOjoint_trajectory_controllerGot request to cancel goal + 3.91sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.91sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.91sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.95sERRORobjective_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: 1786703586.39556932 seconds ×3 + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-0.64, 3.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-1.54, 3.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.639ms + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973907 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973907 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786703586.98203921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (5.16e-07 s). ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133396 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133396 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765518 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765518 ms (missed cycles : 3).[0m ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.67sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.67sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.67sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.67sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247483 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247483 ms (missed cycles : 2).[0m ×2 + 8.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.922ms + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875139 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875139 ms (missed cycles : 2).[0m ×2 + 9.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.857ms + 9.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.161ms + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303080 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303080 ms (missed cycles : 2).[0m ×2 + 10.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.607ms + 10.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.981ms + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580296 ms (missed cycles : 3). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580296 ms (missed cycles : 3).[0m ×2 + 11.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.087ms + 11.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.913ms + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542857 ms (missed cycles : 2). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542857 ms (missed cycles : 2).[0m ×2 + 12.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.957ms + 12.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.186ms + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781143 ms (missed cycles : 2). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781143 ms (missed cycles : 2).[0m ×2 + 13.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.250ms + 13.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.368ms + 14.12sINFOamclParticle filter update iteration stats: 3866 particles 723 points - 5.680ms + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574153 ms (missed cycles : 3). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574153 ms (missed cycles : 3).[0m ×2 + 14.62sINFOamclParticle filter update iteration stats: 2941 particles 723 points - 4.241ms + 15.12sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 3.252ms + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537621 ms (missed cycles : 3). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537621 ms (missed cycles : 3).[0m ×2 + 15.62sINFOamclParticle filter update iteration stats: 1311 particles 723 points - 1.924ms + 16.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132689 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132689 ms (missed cycles : 2).[0m ×2 + 16.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 17.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821195 ms (missed cycles : 4). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821195 ms (missed cycles : 4).[0m ×2 + 17.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 18.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151470 ms (missed cycles : 4). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151470 ms (missed cycles : 4).[0m ×2 + 18.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms ×2 + 19.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913704 ms (missed cycles : 2). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913704 ms (missed cycles : 2).[0m ×2 + 19.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms + 20.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 20.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.253ms + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406466 ms (missed cycles : 3). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406466 ms (missed cycles : 3).[0m ×2 + 21.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176706 ms (missed cycles : 3). + 21.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176706 ms (missed cycles : 3).[0m ×2 + 22.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 22.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103894 ms (missed cycles : 2). + 22.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103894 ms (missed cycles : 2).[0m ×2 + 23.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 23.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms ×2 + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686503 ms (missed cycles : 3). + 23.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686503 ms (missed cycles : 3).[0m ×2 + 24.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.218ms + 24.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 24.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869868 ms (missed cycles : 3). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869868 ms (missed cycles : 3).[0m ×2 + 25.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 25.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.236ms + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105863 ms (missed cycles : 3). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105863 ms (missed cycles : 3).[0m ×2 + 26.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 26.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 26.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688840 ms (missed cycles : 3). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688840 ms (missed cycles : 3).[0m ×2 + 27.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 27.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 27.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257495 ms (missed cycles : 3). + 27.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257495 ms (missed cycles : 3).[0m ×2 + 28.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms ×2 + 28.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703018 ms (missed cycles : 3). + 29.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703018 ms (missed cycles : 3).[0m ×2 + 29.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms ×2 + 29.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 30.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150818 ms (missed cycles : 2). + 30.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150818 ms (missed cycles : 2).[0m ×2 + 30.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 31.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693807 ms (missed cycles : 3). + 31.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693807 ms (missed cycles : 3).[0m ×2 + 31.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 31.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 32.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 32.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172629 ms (missed cycles : 3). + 32.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172629 ms (missed cycles : 3).[0m ×2 + 32.33sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 33.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193644 ms (missed cycles : 2). + 33.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 33.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193644 ms (missed cycles : 2).[0m ×2 + 34.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444167 ms (missed cycles : 2). + 34.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444167 ms (missed cycles : 2).[0m ×2 + 35.04sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.04sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893107 ms (missed cycles : 3). + 35.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893107 ms (missed cycles : 3).[0m ×2 + 35.39sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.16sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 36.16sINFOobjective_server_nodePlanning for 35 path waypoints. ×6 + 36.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801549 ms (missed cycles : 2). + 36.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801549 ms (missed cycles : 2).[0m ×2 + 37.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813905 ms (missed cycles : 4). + 37.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813905 ms (missed cycles : 4).[0m ×2 + 38.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807027 ms (missed cycles : 2). + 38.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807027 ms (missed cycles : 2).[0m ×2 + 38.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 39.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 39.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577184 ms (missed cycles : 4). + 39.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577184 ms (missed cycles : 4).[0m ×2 + 39.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 40.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 40.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 40.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007325 ms (missed cycles : 4). + 40.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007325 ms (missed cycles : 4).[0m ×2 + 40.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.149ms + 41.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 41.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270380 ms (missed cycles : 3). + 41.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270380 ms (missed cycles : 3).[0m ×2 + 42.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670729 ms (missed cycles : 3). + 42.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670729 ms (missed cycles : 3).[0m ×2 + 43.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884659 ms (missed cycles : 2). + 43.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884659 ms (missed cycles : 2).[0m ×2 + 44.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478896 ms (missed cycles : 3). + 44.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478896 ms (missed cycles : 3).[0m ×2 + 45.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 46.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388814 ms (missed cycles : 3). + 46.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388814 ms (missed cycles : 3).[0m ×2 + 46.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 47.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202779 ms (missed cycles : 3). + 47.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202779 ms (missed cycles : 3).[0m ×2 + 48.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420618 ms (missed cycles : 4). + 48.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420618 ms (missed cycles : 4).[0m ×2 + 48.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 49.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671452 ms (missed cycles : 2). + 49.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671452 ms (missed cycles : 2).[0m ×2 + 49.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 50.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417437 ms (missed cycles : 3). + 50.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417437 ms (missed cycles : 3).[0m ×2 + 50.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 51.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 51.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168028 ms (missed cycles : 3). + 51.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168028 ms (missed cycles : 3).[0m ×2 + 52.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 52.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754528 ms (missed cycles : 3). + 52.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754528 ms (missed cycles : 3).[0m ×2 + 53.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996758 ms (missed cycles : 4). + 53.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996758 ms (missed cycles : 4).[0m ×2 + 55.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259910 ms (missed cycles : 2). + 55.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259910 ms (missed cycles : 2).[0m ×2 + 56.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.410997 ms (missed cycles : 4). + 56.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.410997 ms (missed cycles : 4).[0m ×2 + 57.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567080 ms (missed cycles : 4). + 57.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567080 ms (missed cycles : 4).[0m ×2 + 57.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 58.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 58.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265461 ms (missed cycles : 4). + 58.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265461 ms (missed cycles : 4).[0m ×2 + 59.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 59.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103834 ms (missed cycles : 3). + 59.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103834 ms (missed cycles : 3).[0m ×2 + 60.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 60.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061305 ms (missed cycles : 3). + 60.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061305 ms (missed cycles : 3).[0m ×2 + 61.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 61.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291923 ms (missed cycles : 2). + 61.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291923 ms (missed cycles : 2).[0m ×2 + 62.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566678 ms (missed cycles : 2). + 62.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566678 ms (missed cycles : 2).[0m ×2 + 63.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 63.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640910 ms (missed cycles : 3). + 63.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640910 ms (missed cycles : 3).[0m ×2 + 64.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms + 64.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615329 ms (missed cycles : 3). + 64.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615329 ms (missed cycles : 3).[0m ×2 + 65.16sINFOobjective_server_nodePlanning for 29 path waypoints. ×3 + 65.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041668 ms (missed cycles : 2). + 65.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041668 ms (missed cycles : 2).[0m ×2 + 66.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076782 ms (missed cycles : 3). + 66.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076782 ms (missed cycles : 3).[0m ×2 + 67.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628246 ms (missed cycles : 3). + 67.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628246 ms (missed cycles : 3).[0m ×2 + 68.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259457 ms (missed cycles : 2). + 68.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259457 ms (missed cycles : 2).[0m ×2 + 69.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 70.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695122 ms (missed cycles : 2). + 70.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695122 ms (missed cycles : 2).[0m ×2 + 70.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 71.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954904 ms (missed cycles : 2). + 71.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954904 ms (missed cycles : 2).[0m ×2 + 71.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 72.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331856 ms (missed cycles : 2). + 72.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331856 ms (missed cycles : 2).[0m ×2 + 72.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 73.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 73.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101447 ms (missed cycles : 4). + 73.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101447 ms (missed cycles : 4).[0m ×2 + 74.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 74.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498409 ms (missed cycles : 3). + 74.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498409 ms (missed cycles : 3).[0m ×2 + 74.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 75.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 75.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608730 ms (missed cycles : 3). + 75.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608730 ms (missed cycles : 3).[0m ×2 + 76.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 76.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279408 ms (missed cycles : 2). + 76.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279408 ms (missed cycles : 2).[0m ×2 + 76.98sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786703659.42220092 seconds ×3 + 77.09sWARNlocal_costmap.local_costmapSensor origin at (-0.82, 6.48) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 77.09sWARNlocal_costmap.local_costmapSensor origin at (-1.69, 6.27) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 77.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.455ms + 77.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.912ms + 77.57sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786703660.01084638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 77.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332636 ms (missed cycles : 2). + 77.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332636 ms (missed cycles : 2).[0m ×2 + 78.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268678 ms (missed cycles : 2). + 78.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268678 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.0s | 188 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449732 ms (missed cycles : 3).[0m ×2 + 0.73sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.73sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786703422.06356716 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 1.06sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 1.990ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721865 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721865 ms (missed cycles : 2).[0m ×2 + 1.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786703422.65165448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745354 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745354 ms (missed cycles : 3).[0m ×2 + 2.40sINFOobjective_server_nodeFound path in 0 iterations (2.9944e-05 s). ×2 + 2.40sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 2.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.42sINFOjoint_trajectory_controllerReceived new action goal ×4 + 2.42sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 2.42sINFOros2_control_nodeReceived new action goal[0m ×8 + 2.42sINFOros2_control_nodeAccepted new action goal[0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133620 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133620 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786703425.43178010 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391824 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391824 ms (missed cycles : 3).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786703426.01660514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791635 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791635 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719459 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719459 ms (missed cycles : 3).[0m ×2 + 7.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501945 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501945 ms (missed cycles : 2).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425339 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425339 ms (missed cycles : 2).[0m ×2 + 8.96sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 2.346ms + 9.56sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.060ms + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137852 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137852 ms (missed cycles : 2).[0m ×2 + 10.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.794ms + 10.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.326ms + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019610 ms (missed cycles : 4). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019610 ms (missed cycles : 4).[0m ×2 + 11.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 11.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767342 ms (missed cycles : 3). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767342 ms (missed cycles : 3).[0m ×2 + 12.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 12.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.151ms + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696890 ms (missed cycles : 3). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696890 ms (missed cycles : 3).[0m ×2 + 13.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 13.46sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837185 ms (missed cycles : 2). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837185 ms (missed cycles : 2).[0m ×2 + 14.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 14.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473467 ms (missed cycles : 3). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473467 ms (missed cycles : 3).[0m ×2 + 15.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 15.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939438 ms (missed cycles : 2). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939438 ms (missed cycles : 2).[0m ×2 + 16.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 16.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482668 ms (missed cycles : 3). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482668 ms (missed cycles : 3).[0m ×2 + 17.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms ×2 + 17.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 18.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173362 ms (missed cycles : 4). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173362 ms (missed cycles : 4).[0m ×2 + 18.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms ×2 + 19.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms ×2 + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615775 ms (missed cycles : 2). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615775 ms (missed cycles : 2).[0m ×2 + 20.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382327 ms (missed cycles : 3). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382327 ms (missed cycles : 3).[0m ×2 + 20.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 21.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032502 ms (missed cycles : 4). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032502 ms (missed cycles : 4).[0m ×2 + 21.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 22.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498395 ms (missed cycles : 2). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498395 ms (missed cycles : 2).[0m ×2 + 22.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 23.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 23.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640838 ms (missed cycles : 3). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640838 ms (missed cycles : 3).[0m ×2 + 23.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms ×2 + 24.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948178 ms (missed cycles : 2). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948178 ms (missed cycles : 2).[0m ×2 + 24.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 25.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 25.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812189 ms (missed cycles : 2). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812189 ms (missed cycles : 2).[0m ×2 + 26.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 26.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms ×2 + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226506 ms (missed cycles : 2). + 26.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226506 ms (missed cycles : 2).[0m ×2 + 27.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 27.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 27.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575776 ms (missed cycles : 4). + 27.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575776 ms (missed cycles : 4).[0m ×2 + 28.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.250ms + 28.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070740 ms (missed cycles : 3). + 28.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070740 ms (missed cycles : 3).[0m ×2 + 29.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 29.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.131ms + 29.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801781 ms (missed cycles : 3). + 29.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801781 ms (missed cycles : 3).[0m ×2 + 30.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 30.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731094 ms (missed cycles : 2). + 30.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731094 ms (missed cycles : 2).[0m ×2 + 31.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 31.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 31.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270579 ms (missed cycles : 4). + 31.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270579 ms (missed cycles : 4).[0m ×2 + 32.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.068ms + 32.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 32.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638251 ms (missed cycles : 3). + 32.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638251 ms (missed cycles : 3).[0m ×2 + 33.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 33.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784711 ms (missed cycles : 2). + 33.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784711 ms (missed cycles : 2).[0m ×2 + 34.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.570942 ms (missed cycles : 4). + 34.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.570942 ms (missed cycles : 4).[0m ×2 + 35.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.55sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229223 ms (missed cycles : 2). + 36.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229223 ms (missed cycles : 2).[0m ×2 + 37.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381697 ms (missed cycles : 3). + 37.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381697 ms (missed cycles : 3).[0m ×2 + 38.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747511 ms (missed cycles : 2). + 38.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747511 ms (missed cycles : 2).[0m ×2 + 39.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593124 ms (missed cycles : 3). + 39.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593124 ms (missed cycles : 3).[0m ×2 + 39.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 40.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318945 ms (missed cycles : 4). + 40.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318945 ms (missed cycles : 4).[0m ×2 + 41.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667482 ms (missed cycles : 3). + 41.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667482 ms (missed cycles : 3).[0m ×2 + 42.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 42.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747326 ms (missed cycles : 3). + 42.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747326 ms (missed cycles : 3).[0m ×2 + 43.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052981 ms (missed cycles : 2). + 43.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052981 ms (missed cycles : 2).[0m ×2 + 44.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221950 ms (missed cycles : 4). + 44.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221950 ms (missed cycles : 4).[0m ×2 + 45.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 45.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950620 ms (missed cycles : 2). + 45.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950620 ms (missed cycles : 2).[0m ×2 + 46.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795708 ms (missed cycles : 4). + 46.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795708 ms (missed cycles : 4).[0m ×2 + 47.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648487 ms (missed cycles : 3). + 47.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648487 ms (missed cycles : 3).[0m ×2 + 48.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.115ms + 48.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718678 ms (missed cycles : 3). + 48.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718678 ms (missed cycles : 3).[0m ×2 + 49.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156451 ms (missed cycles : 2). + 49.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156451 ms (missed cycles : 2).[0m ×2 + 51.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496212 ms (missed cycles : 2). + 51.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496212 ms (missed cycles : 2).[0m ×2 + 52.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948994 ms (missed cycles : 2). + 52.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948994 ms (missed cycles : 2).[0m ×2 + 52.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 53.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779480 ms (missed cycles : 2). + 53.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779480 ms (missed cycles : 2).[0m ×2 + 54.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548852 ms (missed cycles : 3). + 54.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548852 ms (missed cycles : 3).[0m ×2 + 55.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962786 ms (missed cycles : 3). + 55.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962786 ms (missed cycles : 3).[0m ×2 + 56.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 56.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133498 ms (missed cycles : 2). + 56.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133498 ms (missed cycles : 2).[0m ×2 + 57.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269737 ms (missed cycles : 3). + 57.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269737 ms (missed cycles : 3).[0m ×2 + 58.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823616 ms (missed cycles : 3). + 58.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823616 ms (missed cycles : 3).[0m ×2 + 59.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558821 ms (missed cycles : 4). + 59.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558821 ms (missed cycles : 4).[0m ×2 + 60.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 60.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592476 ms (missed cycles : 3). + 60.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592476 ms (missed cycles : 3).[0m ×2 + 61.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786703482.43672848 seconds ×3 + 61.23sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 7.47) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.23sWARNlocal_costmap.local_costmapSensor origin at (-2.47, 7.50) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.183ms + 61.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.060ms + 61.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771804 ms (missed cycles : 2). + 61.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771804 ms (missed cycles : 2).[0m ×2 + 61.73sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786703483.03305626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.16sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 62.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532916 ms (missed cycles : 2). + 62.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532916 ms (missed cycles : 2).[0m ×2 + 63.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702480 ms (missed cycles : 2). + 63.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702480 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 56.8s | 185 warnings · 172 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090746 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090746 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079900 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079900 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620364 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620364 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992786 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992786 ms (missed cycles : 2).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.63sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786703665.90097117 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786703666.49341917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322479 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322479 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731723 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731723 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527153 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527153 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.47sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.47sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.47sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356195 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356195 ms (missed cycles : 3).[0m ×2 + 8.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.007ms + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955265 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955265 ms (missed cycles : 2).[0m ×2 + 8.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.387ms + 9.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.646ms + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796003 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796003 ms (missed cycles : 2).[0m ×2 + 9.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.313ms + 10.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.514ms + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647445 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647445 ms (missed cycles : 3).[0m ×2 + 10.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.496ms + 11.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.388ms + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447216 ms (missed cycles : 3). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447216 ms (missed cycles : 3).[0m ×2 + 11.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.763ms + 12.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.980ms + 12.56sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886103 ms (missed cycles : 2). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886103 ms (missed cycles : 2).[0m ×2 + 12.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.953ms + 13.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.771ms + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971807 ms (missed cycles : 2). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971807 ms (missed cycles : 2).[0m ×2 + 13.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.707ms + 14.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.959ms + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123337 ms (missed cycles : 2). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123337 ms (missed cycles : 2).[0m ×2 + 14.94sINFOamclParticle filter update iteration stats: 3502 particles 723 points - 6.569ms + 15.44sINFOamclParticle filter update iteration stats: 1946 particles 723 points - 3.234ms + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828898 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828898 ms (missed cycles : 2).[0m ×2 + 15.94sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 2.193ms + 16.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.265ms + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384023 ms (missed cycles : 3). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384023 ms (missed cycles : 3).[0m ×2 + 16.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.236ms + 17.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 17.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218954 ms (missed cycles : 3). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218954 ms (missed cycles : 3).[0m ×2 + 17.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.154ms + 18.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.107ms + 18.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 18.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061985 ms (missed cycles : 3). + 18.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061985 ms (missed cycles : 3).[0m ×2 + 19.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 19.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545665 ms (missed cycles : 3). + 20.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545665 ms (missed cycles : 3).[0m ×2 + 20.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 20.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 21.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460940 ms (missed cycles : 2). + 21.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460940 ms (missed cycles : 2).[0m ×2 + 21.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 21.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.148ms ×2 + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832606 ms (missed cycles : 2). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832606 ms (missed cycles : 2).[0m ×2 + 22.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 22.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716382 ms (missed cycles : 2). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716382 ms (missed cycles : 2).[0m ×2 + 23.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.131ms + 23.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 24.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686292 ms (missed cycles : 2). + 24.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686292 ms (missed cycles : 2).[0m ×2 + 24.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 24.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.251ms + 25.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms + 25.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889880 ms (missed cycles : 3). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889880 ms (missed cycles : 3).[0m ×2 + 25.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 26.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983228 ms (missed cycles : 3). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983228 ms (missed cycles : 3).[0m ×2 + 26.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 27.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 27.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616043 ms (missed cycles : 3). + 27.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616043 ms (missed cycles : 3).[0m ×2 + 27.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 28.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054190 ms (missed cycles : 3). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054190 ms (missed cycles : 3).[0m ×2 + 28.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 29.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025556 ms (missed cycles : 2). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025556 ms (missed cycles : 2).[0m ×2 + 30.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 30.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876148 ms (missed cycles : 2). + 30.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876148 ms (missed cycles : 2).[0m ×2 + 30.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 31.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 31.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750176 ms (missed cycles : 2). + 31.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750176 ms (missed cycles : 2).[0m ×2 + 31.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.232ms + 32.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.243ms + 32.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811621 ms (missed cycles : 2). + 32.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811621 ms (missed cycles : 2).[0m ×2 + 33.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.260ms + 33.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426956 ms (missed cycles : 4). + 33.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426956 ms (missed cycles : 4).[0m ×2 + 33.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 34.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993393 ms (missed cycles : 3). + 34.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993393 ms (missed cycles : 3).[0m ×2 + 34.88sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 34.88sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699678 ms (missed cycles : 4). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699678 ms (missed cycles : 4).[0m ×2 + 36.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048139 ms (missed cycles : 2). + 36.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048139 ms (missed cycles : 2).[0m ×2 + 38.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689482 ms (missed cycles : 3). + 38.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689482 ms (missed cycles : 3).[0m ×2 + 39.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015475 ms (missed cycles : 2). + 39.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015475 ms (missed cycles : 2).[0m ×2 + 40.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993395 ms (missed cycles : 2). + 40.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993395 ms (missed cycles : 2).[0m ×2 + 40.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.083ms + 41.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355878 ms (missed cycles : 4). + 41.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355878 ms (missed cycles : 4).[0m ×2 + 42.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144215 ms (missed cycles : 2). + 42.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144215 ms (missed cycles : 2).[0m ×2 + 43.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214672 ms (missed cycles : 3). + 43.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214672 ms (missed cycles : 3).[0m ×2 + 44.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358042 ms (missed cycles : 4). + 44.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358042 ms (missed cycles : 4).[0m ×2 + 45.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047377 ms (missed cycles : 2). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047377 ms (missed cycles : 2).[0m ×2 + 46.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640887 ms (missed cycles : 4). + 46.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640887 ms (missed cycles : 4).[0m ×2 + 47.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102854 ms (missed cycles : 3). + 47.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102854 ms (missed cycles : 3).[0m ×2 + 48.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 48.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008517 ms (missed cycles : 2). + 48.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008517 ms (missed cycles : 2).[0m ×2 + 50.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792903 ms (missed cycles : 3). + 50.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792903 ms (missed cycles : 3).[0m ×2 + 51.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759998 ms (missed cycles : 3). + 51.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759998 ms (missed cycles : 3).[0m ×2 + 51.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 52.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854116 ms (missed cycles : 3). + 52.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854116 ms (missed cycles : 3).[0m ×2 + 53.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260772 ms (missed cycles : 4). + 53.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260772 ms (missed cycles : 4).[0m ×2 + 54.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620174 ms (missed cycles : 4). + 54.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620174 ms (missed cycles : 4).[0m ×2 + 55.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230158 ms (missed cycles : 3). + 55.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230158 ms (missed cycles : 3).[0m ×2 + 56.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 56.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089888 ms (missed cycles : 3). + 56.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089888 ms (missed cycles : 3).[0m ×2 + 57.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764868 ms (missed cycles : 3). + 57.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764868 ms (missed cycles : 3).[0m ×2 + 58.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216107 ms (missed cycles : 2). + 58.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216107 ms (missed cycles : 2).[0m ×2 + 59.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.135ms + 59.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436908 ms (missed cycles : 2). + 59.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436908 ms (missed cycles : 2).[0m ×2 + 60.52sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786703722.74354815 seconds ×3 + 60.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826487 ms (missed cycles : 3). + 60.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826487 ms (missed cycles : 3).[0m ×2 + 60.61sWARNlocal_costmap.local_costmapSensor origin at (-1.66, 7.85) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.61sWARNlocal_costmap.local_costmapSensor origin at (-2.56, 7.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.974ms + 60.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.803ms + 61.11sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786703723.32985687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.48sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 61.64sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092434 ms (missed cycles : 3). + 61.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092434 ms (missed cycles : 3).[0m ×2 + 62.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786559 ms (missed cycles : 2). + 62.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786559 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.7s | 181 warnings · 192 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243032 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243032 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904281 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904281 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749582 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749582 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880881 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880881 ms (missed cycles : 5).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.99sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786703520.99096274 seconds ×3 + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.18sWARNlocal_costmap.local_costmapSensor origin at (-0.65, 3.28) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.18sWARNlocal_costmap.local_costmapSensor origin at (-1.55, 3.27) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.717ms + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960494 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960494 ms (missed cycles : 3).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.489ms + 4.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786703521.57763052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (5.53e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867802 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867802 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186077 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186077 ms (missed cycles : 3).[0m ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.95sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.95sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.95sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.95sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292238 ms (missed cycles : 4). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292238 ms (missed cycles : 4).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281848 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281848 ms (missed cycles : 2).[0m ×2 + 8.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.079ms + 9.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.230ms + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898903 ms (missed cycles : 3). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898903 ms (missed cycles : 3).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.396ms + 10.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.168ms + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805741 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805741 ms (missed cycles : 2).[0m ×2 + 10.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.920ms + 11.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.218ms + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122672 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122672 ms (missed cycles : 3).[0m ×2 + 11.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.676ms + 12.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.549ms + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055006 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055006 ms (missed cycles : 2).[0m ×2 + 12.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.134ms + 13.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.614ms + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177568 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177568 ms (missed cycles : 2).[0m ×2 + 13.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.621ms + 14.41sINFOamclParticle filter update iteration stats: 4683 particles 723 points - 8.858ms + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757008 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757008 ms (missed cycles : 3).[0m ×2 + 14.91sINFOamclParticle filter update iteration stats: 3762 particles 723 points - 6.873ms + 15.50sINFOamclParticle filter update iteration stats: 3326 particles 723 points - 4.155ms + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366121 ms (missed cycles : 3). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366121 ms (missed cycles : 3).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 2826 particles 723 points - 4.125ms + 16.49sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 3.739ms + 17.00sINFOamclParticle filter update iteration stats: 1745 particles 723 points - 2.160ms + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194827 ms (missed cycles : 2). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194827 ms (missed cycles : 2).[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 1.822ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.624699 ms (missed cycles : 3). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.624699 ms (missed cycles : 3).[0m ×2 + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms + 19.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543856 ms (missed cycles : 3). + 19.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543856 ms (missed cycles : 3).[0m ×2 + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 20.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845135 ms (missed cycles : 3). + 20.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845135 ms (missed cycles : 3).[0m ×2 + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms ×2 + 21.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863150 ms (missed cycles : 2). + 21.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863150 ms (missed cycles : 2).[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms ×2 + 22.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109025 ms (missed cycles : 3). + 22.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109025 ms (missed cycles : 3).[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 23.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137739 ms (missed cycles : 2). + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137739 ms (missed cycles : 2).[0m ×2 + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.117ms + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784987 ms (missed cycles : 2). + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784987 ms (missed cycles : 2).[0m ×2 + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 25.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625823 ms (missed cycles : 2). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625823 ms (missed cycles : 2).[0m ×2 + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 26.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946749 ms (missed cycles : 3). + 26.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946749 ms (missed cycles : 3).[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.228ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 27.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540291 ms (missed cycles : 3). + 27.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540291 ms (missed cycles : 3).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.259ms + 28.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959615 ms (missed cycles : 2). + 28.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959615 ms (missed cycles : 2).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 29.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630027 ms (missed cycles : 4). + 29.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630027 ms (missed cycles : 4).[0m ×2 + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 30.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044224 ms (missed cycles : 4). + 30.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044224 ms (missed cycles : 4).[0m ×2 + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms ×2 + 31.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204079 ms (missed cycles : 3). + 31.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204079 ms (missed cycles : 3).[0m ×2 + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 33.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607424 ms (missed cycles : 4). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607424 ms (missed cycles : 4).[0m ×2 + 33.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881969 ms (missed cycles : 3). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881969 ms (missed cycles : 3).[0m ×2 + 34.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms ×2 + 35.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844071 ms (missed cycles : 3). + 35.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844071 ms (missed cycles : 3).[0m ×2 + 36.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622302 ms (missed cycles : 3). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622302 ms (missed cycles : 3).[0m ×2 + 37.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951210 ms (missed cycles : 3). + 37.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951210 ms (missed cycles : 3).[0m ×2 + 37.46sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.81sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 38.15sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 38.15sINFOobjective_server_nodePlanning for 47 path waypoints. ×3 + 38.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716882 ms (missed cycles : 5). + 38.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716882 ms (missed cycles : 5).[0m ×2 + 39.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333228 ms (missed cycles : 4). + 39.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333228 ms (missed cycles : 4).[0m ×2 + 39.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 40.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441350 ms (missed cycles : 3). + 40.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441350 ms (missed cycles : 3).[0m ×2 + 40.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms ×2 + 41.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 41.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721805 ms (missed cycles : 2). + 41.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721805 ms (missed cycles : 2).[0m ×2 + 41.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 42.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588688 ms (missed cycles : 3). + 42.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588688 ms (missed cycles : 3).[0m ×2 + 43.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 43.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763819 ms (missed cycles : 4). + 43.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763819 ms (missed cycles : 4).[0m ×2 + 44.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 44.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902646 ms (missed cycles : 2). + 44.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902646 ms (missed cycles : 2).[0m ×2 + 45.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602003 ms (missed cycles : 3). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602003 ms (missed cycles : 3).[0m ×2 + 46.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3). + 46.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604725 ms (missed cycles : 3).[0m ×2 + 47.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 47.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 47.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443374 ms (missed cycles : 2). + 47.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443374 ms (missed cycles : 2).[0m ×2 + 48.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 48.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 49.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758645 ms (missed cycles : 2). + 49.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758645 ms (missed cycles : 2).[0m ×2 + 49.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 50.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973826 ms (missed cycles : 3). + 50.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973826 ms (missed cycles : 3).[0m ×2 + 50.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 51.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 51.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083731 ms (missed cycles : 3). + 51.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083731 ms (missed cycles : 3).[0m ×2 + 52.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 52.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816967 ms (missed cycles : 2). + 52.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816967 ms (missed cycles : 2).[0m ×2 + 53.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms + 53.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645045 ms (missed cycles : 3). + 53.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645045 ms (missed cycles : 3).[0m ×2 + 54.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 54.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331379 ms (missed cycles : 2). + 54.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331379 ms (missed cycles : 2).[0m ×2 + 55.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 55.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219142 ms (missed cycles : 3). + 55.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219142 ms (missed cycles : 3).[0m ×2 + 56.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332929 ms (missed cycles : 4). + 56.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332929 ms (missed cycles : 4).[0m ×2 + 57.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 57.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227688 ms (missed cycles : 4). + 57.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227688 ms (missed cycles : 4).[0m ×2 + 58.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786703575.72776198 seconds ×3 + 58.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827208 ms (missed cycles : 3). + 58.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827208 ms (missed cycles : 3).[0m ×2 + 58.88sWARNlocal_costmap.local_costmapSensor origin at (-0.72, 5.39) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 58.88sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 5.67) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 58.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.953ms + 59.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.646ms + 59.35sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786703576.31280756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.75sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 59.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708229 ms (missed cycles : 2). + 59.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708229 ms (missed cycles : 2).[0m ×2 + 60.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907763 ms (missed cycles : 2). + 60.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907763 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 144 warnings · 266 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 5.35sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.35sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.70sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516500 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516500 ms (missed cycles : 2).[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782497 ms (missed cycles : 3). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782497 ms (missed cycles : 3).[0m ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153496 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153496 ms (missed cycles : 2).[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094893 ms (missed cycles : 3). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094893 ms (missed cycles : 3).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098337 ms (missed cycles : 3). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098337 ms (missed cycles : 3).[0m ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667164 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667164 ms (missed cycles : 2).[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061894 ms (missed cycles : 3). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061894 ms (missed cycles : 3).[0m ×2 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184653 ms (missed cycles : 2). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184653 ms (missed cycles : 2).[0m ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711937 ms (missed cycles : 3). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711937 ms (missed cycles : 3).[0m ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872539 ms (missed cycles : 2). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872539 ms (missed cycles : 2).[0m ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087662 ms (missed cycles : 2). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087662 ms (missed cycles : 2).[0m ×2 + 18.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104667 ms (missed cycles : 2). + 18.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104667 ms (missed cycles : 2).[0m ×2 + 19.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970155 ms (missed cycles : 2). + 19.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970155 ms (missed cycles : 2).[0m ×2 + 20.41sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 2.131ms + 20.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097563 ms (missed cycles : 3). + 20.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097563 ms (missed cycles : 3).[0m ×2 + 21.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201808 ms (missed cycles : 2). + 21.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201808 ms (missed cycles : 2).[0m ×2 + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844109 ms (missed cycles : 3). + 22.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844109 ms (missed cycles : 3).[0m ×2 + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830014 ms (missed cycles : 2). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830014 ms (missed cycles : 2).[0m ×2 + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111452 ms (missed cycles : 2). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111452 ms (missed cycles : 2).[0m ×2 + 26.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310475 ms (missed cycles : 2). + 26.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310475 ms (missed cycles : 2).[0m ×2 + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554649 ms (missed cycles : 2). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554649 ms (missed cycles : 2).[0m ×2 + 28.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879162 ms (missed cycles : 2). + 28.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879162 ms (missed cycles : 2).[0m ×2 + 29.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038658 ms (missed cycles : 2). + 29.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038658 ms (missed cycles : 2).[0m ×2 + 30.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704905 ms (missed cycles : 2). + 30.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704905 ms (missed cycles : 2).[0m ×2 + 31.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160993 ms (missed cycles : 3). + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160993 ms (missed cycles : 3).[0m ×2 + 32.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044006 ms (missed cycles : 2). + 32.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044006 ms (missed cycles : 2).[0m ×2 + 33.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834780 ms (missed cycles : 2). + 33.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834780 ms (missed cycles : 2).[0m ×2 + 34.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924966 ms (missed cycles : 2). + 34.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924966 ms (missed cycles : 2).[0m ×2 + 35.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090091 ms (missed cycles : 2). + 35.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090091 ms (missed cycles : 2).[0m ×2 + 36.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437152 ms (missed cycles : 3). + 36.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437152 ms (missed cycles : 3).[0m ×2 + 38.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739843 ms (missed cycles : 2). + 38.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739843 ms (missed cycles : 2).[0m ×2 + 39.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721805 ms (missed cycles : 3). + 39.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721805 ms (missed cycles : 3).[0m ×2 + 40.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495102 ms (missed cycles : 3). + 40.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495102 ms (missed cycles : 3).[0m ×2 + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723480 ms (missed cycles : 3). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723480 ms (missed cycles : 3).[0m ×2 + 42.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952536 ms (missed cycles : 3). + 42.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952536 ms (missed cycles : 3).[0m ×2 + 43.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217811 ms (missed cycles : 2). + 43.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217811 ms (missed cycles : 2).[0m ×2 + 44.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921971 ms (missed cycles : 2). + 44.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921971 ms (missed cycles : 2).[0m ×2 + 45.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478665 ms (missed cycles : 3). + 45.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478665 ms (missed cycles : 3).[0m ×2 + 46.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449732 ms (missed cycles : 3). + 46.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449732 ms (missed cycles : 3).[0m ×2 + 47.28sINFOjoint_trajectory_controllerGoal reached, success! + 47.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786703422.06356716 seconds ×3 + 47.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.60sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 1.990ms + 47.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721865 ms (missed cycles : 2). + 47.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721865 ms (missed cycles : 2).[0m ×2 + 47.89sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786703422.65165448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745354 ms (missed cycles : 3). + 48.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745354 ms (missed cycles : 3).[0m ×2 + 48.95sINFOobjective_server_nodeFound path in 0 iterations (2.9944e-05 s). ×2 + 48.95sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133620 ms (missed cycles : 3). + 49.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133620 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.3s | 110 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670816 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670816 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546432 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546432 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635773 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635773 ms (missed cycles : 3).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.65sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.69sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786703488.70319033 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847674 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847674 ms (missed cycles : 2).[0m ×2 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490893 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490893 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786703490.28082013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (6.05e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929307 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929307 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352320 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352320 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.57sINFOjoint_trajectory_controllerReceived new action goal + 6.57sINFOjoint_trajectory_controllerAccepted new action goal + 6.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155470 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155470 ms (missed cycles : 2).[0m ×2 + 8.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.013ms + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601582 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601582 ms (missed cycles : 3).[0m ×2 + 8.75sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.038ms + 9.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.569ms + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797677 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797677 ms (missed cycles : 3).[0m ×2 + 9.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.434ms + 10.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.526ms + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539952 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539952 ms (missed cycles : 3).[0m ×2 + 10.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.103ms + 11.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.510ms + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491454 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491454 ms (missed cycles : 3).[0m ×2 + 11.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.098ms + 12.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.306ms + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913182 ms (missed cycles : 3). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913182 ms (missed cycles : 3).[0m ×2 + 12.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.977ms + 13.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.419ms + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996768 ms (missed cycles : 2). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996768 ms (missed cycles : 2).[0m ×2 + 13.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.707ms + 14.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.712ms + 14.95sINFOamclParticle filter update iteration stats: 4487 particles 723 points - 6.178ms + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548780 ms (missed cycles : 3). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548780 ms (missed cycles : 3).[0m ×2 + 15.45sINFOamclParticle filter update iteration stats: 3554 particles 723 points - 4.843ms + 15.95sINFOamclParticle filter update iteration stats: 3222 particles 723 points - 3.738ms + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063828 ms (missed cycles : 3). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063828 ms (missed cycles : 3).[0m ×2 + 16.45sINFOamclParticle filter update iteration stats: 2450 particles 723 points - 4.005ms + 16.95sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 2.649ms + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303498 ms (missed cycles : 4). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303498 ms (missed cycles : 4).[0m ×2 + 17.45sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.648ms + 17.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959325 ms (missed cycles : 2). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959325 ms (missed cycles : 2).[0m ×2 + 18.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 18.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.130ms + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058321 ms (missed cycles : 3). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058321 ms (missed cycles : 3).[0m ×2 + 19.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 19.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 20.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449671 ms (missed cycles : 3). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449671 ms (missed cycles : 3).[0m ×2 + 20.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 21.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 21.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466160 ms (missed cycles : 3). + 21.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466160 ms (missed cycles : 3).[0m ×2 + 21.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 22.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839585 ms (missed cycles : 2). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839585 ms (missed cycles : 2).[0m ×2 + 22.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms ×2 + 23.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184329 ms (missed cycles : 3). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184329 ms (missed cycles : 3).[0m ×2 + 23.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 24.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 24.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412312 ms (missed cycles : 4). + 24.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412312 ms (missed cycles : 4).[0m ×2 + 24.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 25.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603338 ms (missed cycles : 3). + 25.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603338 ms (missed cycles : 3).[0m ×2 + 25.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 26.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 26.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.099ms + 26.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044647 ms (missed cycles : 2). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044647 ms (missed cycles : 2).[0m ×2 + 27.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 27.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 28.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891655 ms (missed cycles : 3). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891655 ms (missed cycles : 3).[0m ×2 + 28.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 28.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 29.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887268 ms (missed cycles : 2). + 29.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887268 ms (missed cycles : 2).[0m ×2 + 29.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 29.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 30.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824412 ms (missed cycles : 3). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824412 ms (missed cycles : 3).[0m ×2 + 30.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.268ms + 30.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms + 31.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243032 ms (missed cycles : 3). + 31.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243032 ms (missed cycles : 3).[0m ×2 + 31.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 31.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 32.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904281 ms (missed cycles : 3). + 32.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904281 ms (missed cycles : 3).[0m ×2 + 32.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 33.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 33.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749582 ms (missed cycles : 2). + 33.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749582 ms (missed cycles : 2).[0m ×2 + 33.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 34.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880881 ms (missed cycles : 5). + 34.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880881 ms (missed cycles : 5).[0m ×2 + 34.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786703520.99096274 seconds ×3 + 35.12sWARNlocal_costmap.local_costmapSensor origin at (-0.65, 3.28) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 35.12sWARNlocal_costmap.local_costmapSensor origin at (-1.55, 3.27) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 35.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.717ms + 35.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960494 ms (missed cycles : 3). + 35.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960494 ms (missed cycles : 3).[0m ×2 + 35.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.489ms + 35.57sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786703521.57763052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.96sINFOobjective_server_nodeFound path in 0 iterations (5.53e-07 s). ×2 + 36.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867802 ms (missed cycles : 3). + 36.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867802 ms (missed cycles : 3).[0m ×2 + 37.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186077 ms (missed cycles : 3). + 37.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186077 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 14.8s | 62 warnings · 186 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089888 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089888 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764868 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764868 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216107 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216107 ms (missed cycles : 2).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.135ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436908 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436908 ms (missed cycles : 2).[0m ×2 + 4.08sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.08sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786703722.74354815 seconds ×3 + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.12sINFOcontroller_managerSuccessfully switched controllers! ×6 + 4.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826487 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826487 ms (missed cycles : 3).[0m ×2 + 4.21sWARNlocal_costmap.local_costmapSensor origin at (-1.66, 7.85) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.21sWARNlocal_costmap.local_costmapSensor origin at (-2.56, 7.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.974ms + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.803ms + 4.70sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786703723.32985687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 5.24sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.26sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.26sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.26sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092434 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092434 ms (missed cycles : 3).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786559 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786559 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198714 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198714 ms (missed cycles : 2).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729679 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729679 ms (missed cycles : 2).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515514 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515514 ms (missed cycles : 3).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665090 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665090 ms (missed cycles : 3).[0m ×2 + 10.91sINFOobjective_server_nodeFound path in 0 iterations (6.68e-07 s). ×2 + 10.94sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.97sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 11.01sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 11.05sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 11.11sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 11.15sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 11.21sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 11.26sINFOobjective_server_nodeFound path in 0 iterations (5.19e-07 s). ×2 + 11.51sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 11.56sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011787 ms (missed cycles : 3). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011787 ms (missed cycles : 3).[0m ×2 + 11.87sINFOobjective_server_nodeFound path in 146 iterations (0.1075 s). ×2 + 12.26sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_____X] ×2 + 12.32sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 12.68sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109235 ms (missed cycles : 2). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109235 ms (missed cycles : 2).[0m ×2 + 12.91sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675047 ms (missed cycles : 3). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675047 ms (missed cycles : 3).[0m ×2 + 14.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.283ms + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549144 ms (missed cycles : 2). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549144 ms (missed cycles : 2).[0m ×2 + 15.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.199ms + 16.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.585ms + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701650 ms (missed cycles : 3). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701650 ms (missed cycles : 3).[0m ×2 + 16.15sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.546ms + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868102 ms (missed cycles : 2). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868102 ms (missed cycles : 2).[0m ×2 + 17.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.658ms + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902842 ms (missed cycles : 3). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902842 ms (missed cycles : 3).[0m ×2 + 18.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.958ms + 18.90sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786703737.52842355 seconds ×3 + 19.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.154ms + 19.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786703738.14321327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.52sINFOmove_groupClearing octomap...[0m ×2 + 19.52sINFOmove_groupOctomap cleared.[0m ×2 + 19.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889855 ms (missed cycles : 2). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889855 ms (missed cycles : 2).[0m ×2 + 20.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786703738.80335689 seconds ×3 + 20.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786703739.38037157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261629 ms (missed cycles : 2). + 20.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261629 ms (missed cycles : 2).[0m ×2 + 21.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786703739.98050022 seconds ×3 + 21.59sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.9s | 96 errors · 35 warnings · 433 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.585ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701650 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701650 ms (missed cycles : 3).[0m ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.546ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868102 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868102 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.658ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902842 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902842 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.958ms + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786703737.52842355 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.154ms + 3.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786703738.14321327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.48sINFOmove_groupClearing octomap...[0m ×2 + 3.48sINFOmove_groupOctomap cleared.[0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889855 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889855 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786703738.80335689 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786703739.38037157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261629 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261629 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786703739.98050022 seconds ×3 + 5.55sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223977 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223977 ms (missed cycles : 2).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308338 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308338 ms (missed cycles : 3).[0m ×2 + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562163 ms (missed cycles : 2). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562163 ms (missed cycles : 2).[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218439 ms (missed cycles : 2). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218439 ms (missed cycles : 2).[0m ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611200 ms (missed cycles : 3). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611200 ms (missed cycles : 3).[0m ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178504 ms (missed cycles : 3). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178504 ms (missed cycles : 3).[0m ×2 + 11.56sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.60sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.60sERRORweb_video_auth_proxy-35process has died [pid 9642, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.60sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.61sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.61sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.62sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.63sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.63sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.64sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.64sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.65sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.65sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.66sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.67sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.67sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.68sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.68sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.69sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.69sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.69sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.70sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.70sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.71sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.71sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.71sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.75sERRORweb_bridge_auth_proxy-34process has died [pid 9641, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.75sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.78sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.82sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.85sINFOvideo_server-33process has finished cleanly [pid 9640] ×2 + 11.85sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.89sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.92sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.95sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.98sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 12.01sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 12.04sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 12.06sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9639] ×2 + 12.07sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 12.10sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 12.13sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 12.17sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 12.17sINFOcontroller_managerShutdown request received.... + 12.17sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.17sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.17sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.17sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.17sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.17sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.17sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.17sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.17sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.17sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.17sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.17sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.17sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.17sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.17sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.17sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.17sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.17sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.17sINFOcontroller_managerShutting down the controller manager. + 12.17sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1786703746.538 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.19sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 12.20sERRORmove_group-21process has died [pid 9619, 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_9bka8nrv --params-file /tmp/launch_params_64fwpjhs --params-file /tmp/launch_params_apjlti6a --params-file /tmp/launch_params_zx90zmt3 --params-file /tmp/launch_params_f_ddjv65 --params-file /tmp/launch_params_e7lng_no']. ×2 + 12.20sINFOui_teleop_bridge-30process has finished cleanly [pid 9633] ×2 + 12.21sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 12.22sINFOcomponent_container_mt-28process has finished cleanly [pid 9631] ×2 + 12.24sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 12.26sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 12.27sINFOexecute_objective_bridge-29process has finished cleanly [pid 9632] ×2 + 12.28sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 12.31sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.33sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.33sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.33sINFOmap_serverDeactivating + 12.33sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.34sINFOmap_serverCleaning up + 12.34sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.34sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.35sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.35sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.35sINFOcontroller_serverDeactivating + 12.35sINFOlocal_costmap.local_costmapDeactivating + 12.35sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 12.36sINFOvideo_server2026/08/14 10:35:46 INF shutting down gracefully ×2 + 12.36sINFOvideo_server2026/08/14 10:35:46 INF [WebRTC] closing ×2 + 12.36sINFOvideo_server2026/08/14 10:35:46 INF [RTSP] closing ×2 + 12.36sINFOvideo_server2026/08/14 10:35:46 INF waiting for running hooks ×2 + 12.36sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.36sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.36sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sERRORamclThe bond connection to the lifecycle manager has been broken + 12.36sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.36sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.37sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.37sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.37sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.37sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.37sERRORmove_groupStack trace (most recent call last) in thread 10245: ×2 + 12.37sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.37sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f00ccc8bb63, in __clone ×2 + 12.37sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f00ccbfeb83, in ×2 + 12.37sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f00cce90db3, in ×2 + 12.37sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f00cd601637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.37sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f00cd222620, in rclcpp::Rate::sleep() ×2 + 12.37sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f00cd164d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.37sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f00cd126087, in ×2 + 12.37sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f00cce5f390, in __cxa_throw ×2 + 12.37sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f00cce49a54, in std::terminate() ×2 + 12.37sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f00cce5f0d9, in ×2 + 12.37sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f00cce49ff4, in ×2 + 12.37sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f00ccb8a8fe, in abort ×2 + 12.37sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f00ccba727d, in raise ×2 + 12.37sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f00ccc00c0c, in pthread_kill ×2 + 12.37sERRORmove_groupAborted (Signal sent by tkill() 9619 0) ×2 + 12.37sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.37sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.37sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.37sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.37sWARNros2_control_nodeempty wait set received in wait(). This should never happen.[0m ×2 + 12.37sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.37sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.37sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.37sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.37sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.37sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.37sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.37sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.37sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.37sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.37sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.37sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.38sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.38sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.38sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 12.38sINFOodom_qos_relay.pymain() ×2 + 12.38sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 12.38sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.38sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.38sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.38sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.38sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.38sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.38sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.38sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.38sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.38sINFOcontroller_serverCleaning up + 12.38sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.38sINFOlocal_costmap.local_costmapCleaning up + 12.39sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.39sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.39sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 12.40sINFOros2_control_nodepublish_async_failures_ 5[0m ×2 + 12.43sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.43sINFOsmoother_serverDeactivating + 12.43sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.44sINFOsmoother_serverCleaning up + 12.44sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.44sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.44sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.44sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.44sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.44sINFOvelocity_smootherDeactivating + 12.44sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.45sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.45sINFOplanner_serverDeactivating + 12.45sINFOglobal_costmap.global_costmapDeactivating + 12.56sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.56sINFOwaypoint_followerDeactivating + 12.56sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.57sERRORcomponent_container_isolated-2process has died [pid 9502, 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_koe_c2cx --params-file /tmp/launch_params_c4470kix -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.59sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.59sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.60sINFOplanner_serverCleaning up + 12.62sINFOglobal_costmap.global_costmapCleaning up + 12.63sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.63sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.66sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.66sINFObehavior_serverDeactivating + 12.66sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.67sINFObehavior_serverCleaning up + 12.67sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.67sINFObt_navigatorDeactivating + 12.68sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.68sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.68sERRORbt_navigatorUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.68sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator ×2 + 12.68sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.69sINFObt_navigatorCleaning up + 12.73sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.73sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 12.73sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.73sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.73sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.73sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.73sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.74sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.74sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.74sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.74sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.74sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.74sINFOvelocity_smootherCleaning up + 12.74sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.74sINFOwaypoint_followerCleaning up + 12.77sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.79sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.79sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.79sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.79sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.79sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.79sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.79sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.79sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.79sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.79sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.84sINFObt_navigatorCompleted Cleaning up + 12.84sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.84sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.84sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.07sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9627] ×2 + 13.09sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9626] ×2 + 13.10sERRORcomponent_container_isolated-1process has died [pid 9501, 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_koe_c2cx --params-file /tmp/launch_params_yh8zsvv8 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.14sINFOobjective_server_node[2026-08-14 10:35:47.808] [moveit_pro_license] [critical] ×2 + 13.14sINFOobjective_server_node************************************************* ×4 + 13.14sINFOobjective_server_node* MoveIt Pro License ×2 + 13.14sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 13.16sINFOwaypoint_manager_node-23process has finished cleanly [pid 9621] ×2 + 13.16sINFOparameter_manager_node-22process has finished cleanly [pid 9620] ×2 + 13.19sINFOcomponent_container_mt-27process has finished cleanly [pid 9629] ×2 + 13.21sINFOobjective_server_node_main-26process has finished cleanly [pid 9628] ×2 + 13.21sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 13.24sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9508] ×2 + 13.26sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9507] ×2 + 13.33sINFOstatic_transform_publisher-4process has finished cleanly [pid 9504] ×2 + 13.35sINFOstatic_transform_publisher-3process has finished cleanly [pid 9503] ×2 + 13.37sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9506] ×2 + 13.38sERRORodom_qos_relay.py-5process has died [pid 9505, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 14.74sINFOweb_bridge-31process has finished cleanly [pid 9635] ×2 + 14.74sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.90sINFOros2_control_node-9process has finished cleanly [pid 9509] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 3 errors · 55 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331379 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331379 ms (missed cycles : 2).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219142 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219142 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332929 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332929 ms (missed cycles : 4).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227688 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227688 ms (missed cycles : 4).[0m ×2 + 4.15sINFOjoint_trajectory_controllerGoal reached, success! + 4.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786703575.72776198 seconds ×3 + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827208 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827208 ms (missed cycles : 3).[0m ×2 + 4.29sWARNlocal_costmap.local_costmapSensor origin at (-0.72, 5.39) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.29sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 5.67) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.953ms + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.646ms + 4.76sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786703576.31280756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708229 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708229 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907763 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907763 ms (missed cycles : 2).[0m ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×4 + 7.04sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.04sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.04sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.04sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910463 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910463 ms (missed cycles : 2).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424509 ms (missed cycles : 3). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424509 ms (missed cycles : 3).[0m ×2 + 8.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.692ms + 9.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.573ms + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038600 ms (missed cycles : 2). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038600 ms (missed cycles : 2).[0m ×2 + 10.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.718ms + 10.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.644ms + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604954 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604954 ms (missed cycles : 3).[0m ×2 + 11.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.536ms + 11.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.089ms + 12.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.400ms + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102907 ms (missed cycles : 2). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102907 ms (missed cycles : 2).[0m ×2 + 12.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.061ms + 13.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.458ms + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159882 ms (missed cycles : 2). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159882 ms (missed cycles : 2).[0m ×2 + 13.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.512ms + 14.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.405ms + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357016 ms (missed cycles : 3). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357016 ms (missed cycles : 3).[0m ×2 + 14.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.703ms + 14.79sINFOobjective_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 + 14.80sINFOjoint_trajectory_controllerGot request to cancel goal + 14.80sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.80sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.80sINFOros2_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: 1786703586.39556932 seconds ×3 + 14.89sWARNlocal_costmap.local_costmapSensor origin at (-0.64, 3.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.89sWARNlocal_costmap.local_costmapSensor origin at (-1.54, 3.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 15.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.639ms + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973907 ms (missed cycles : 2). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973907 ms (missed cycles : 2).[0m ×2 + 15.43sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786703586.98203921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.80sINFOobjective_server_nodeFound path in 0 iterations (5.16e-07 s). ×2 + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133396 ms (missed cycles : 2). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133396 ms (missed cycles : 2).[0m ×2 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765518 ms (missed cycles : 3). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765518 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.3s | 44 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269737 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269737 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823616 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823616 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558821 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558821 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592476 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592476 ms (missed cycles : 3).[0m ×2 + 3.75sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.75sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786703482.43672848 seconds ×3 + 3.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 7.47) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-2.47, 7.50) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.183ms + 3.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.060ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771804 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771804 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786703483.03305626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532916 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532916 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702480 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702480 ms (missed cycles : 2).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670816 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670816 ms (missed cycles : 3).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546432 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546432 ms (missed cycles : 2).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635773 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635773 ms (missed cycles : 3).[0m ×2 + 10.02sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786703488.70319033 seconds ×3 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847674 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847674 ms (missed cycles : 2).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490893 ms (missed cycles : 3). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490893 ms (missed cycles : 3).[0m ×2 + 11.60sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786703490.28082013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.99sINFOobjective_server_nodeFound path in 0 iterations (6.05e-07 s). ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929307 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929307 ms (missed cycles : 2).[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352320 ms (missed cycles : 3). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352320 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 41 warnings · 97 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101447 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101447 ms (missed cycles : 4).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498409 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498409 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608730 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608730 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279408 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279408 ms (missed cycles : 2).[0m ×2 + 3.65sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.65sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.66sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786703659.42220092 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.78sWARNlocal_costmap.local_costmapSensor origin at (-0.82, 6.48) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.78sWARNlocal_costmap.local_costmapSensor origin at (-1.69, 6.27) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.455ms + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.912ms + 4.25sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786703660.01084638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332636 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332636 ms (missed cycles : 2).[0m ×2 + 4.74sINFOjoint_trajectory_controllerReceived new action goal + 4.74sINFOjoint_trajectory_controllerAccepted new action goal + 4.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268678 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268678 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090746 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090746 ms (missed cycles : 4).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079900 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079900 ms (missed cycles : 3).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620364 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620364 ms (missed cycles : 3).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992786 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992786 ms (missed cycles : 2).[0m ×2 + 10.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786703665.90097117 seconds ×3 + 10.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786703666.49341917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322479 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322479 ms (missed cycles : 2).[0m ×2 + 11.12sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731723 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731723 ms (missed cycles : 2).[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527153 ms (missed cycles : 3). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527153 ms (missed cycles : 3).[0m ×2 + 12.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.4s | 30 warnings · 93 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217811 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217811 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921971 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921971 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478665 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478665 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449732 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449732 ms (missed cycles : 3).[0m ×2 + 3.83sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.83sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786703422.06356716 seconds ×3 + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.16sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 1.990ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721865 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721865 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786703422.65165448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745354 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745354 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeFound path in 0 iterations (2.9944e-05 s). ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.52sINFOjoint_trajectory_controllerReceived new action goal + 5.52sINFOjoint_trajectory_controllerAccepted new action goal + 5.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133620 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133620 ms (missed cycles : 3).[0m ×2 + 7.23sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786703425.43178010 seconds ×3 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391824 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391824 ms (missed cycles : 3).[0m ×2 + 7.81sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786703426.01660514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791635 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791635 ms (missed cycles : 2).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719459 ms (missed cycles : 3). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719459 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 24 warnings · 83 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.283ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549144 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549144 ms (missed cycles : 2).[0m ×2 + 0.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.199ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.585ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701650 ms (missed cycles : 3). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701650 ms (missed cycles : 3).[0m ×2 + 1.42sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.546ms + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868102 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868102 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.658ms + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902842 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902842 ms (missed cycles : 3).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.958ms + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786703737.52842355 seconds ×3 + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.154ms + 4.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786703738.14321327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.78sINFOmove_groupClearing octomap...[0m ×2 + 4.78sINFOmove_groupOctomap cleared.[0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889855 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889855 ms (missed cycles : 2).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786703738.80335689 seconds ×3 + 6.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786703739.38037157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261629 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261629 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786703739.98050022 seconds ×3 + 6.85sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223977 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223977 ms (missed cycles : 2).[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308338 ms (missed cycles : 3). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308338 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 51 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217811 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217811 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921971 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921971 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478665 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478665 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449732 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449732 ms (missed cycles : 3).[0m ×2 + 3.83sINFOjoint_trajectory_controllerGoal reached, success! + 3.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786703422.06356716 seconds ×3 + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 1.990ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721865 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721865 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786703422.65165448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745354 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745354 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeFound path in 0 iterations (2.9944e-05 s). ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.52sINFOjoint_trajectory_controllerReceived new action goal + 5.52sINFOjoint_trajectory_controllerAccepted new action goal + 5.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133620 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133620 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.33sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_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 + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 93 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449732 ms (missed cycles : 3).[0m ×2 + 0.73sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.73sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786703422.06356716 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.06sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 1.990ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721865 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721865 ms (missed cycles : 2).[0m ×2 + 1.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786703422.65165448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745354 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745354 ms (missed cycles : 3).[0m ×2 + 2.40sINFOobjective_server_nodeFound path in 0 iterations (2.9944e-05 s). ×2 + 2.40sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.42sINFOjoint_trajectory_controllerReceived new action goal + 2.42sINFOjoint_trajectory_controllerAccepted new action goal + 2.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133620 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133620 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786703425.43178010 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391824 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391824 ms (missed cycles : 3).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786703426.01660514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791635 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791635 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719459 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719459 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 23 warnings · 53 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269737 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269737 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823616 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823616 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558821 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558821 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592476 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592476 ms (missed cycles : 3).[0m ×2 + 3.75sINFOjoint_trajectory_controllerGoal reached, success! + 3.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786703482.43672848 seconds ×3 + 3.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 7.47) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-2.47, 7.50) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.183ms + 3.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.060ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771804 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771804 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786703483.03305626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532916 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532916 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702480 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702480 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 23 warnings · 53 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269737 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269737 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823616 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823616 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558821 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558821 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592476 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592476 ms (missed cycles : 3).[0m ×2 + 3.75sINFOjoint_trajectory_controllerGoal reached, success! + 3.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786703482.43672848 seconds ×3 + 3.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 7.47) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-2.47, 7.50) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.183ms + 3.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.060ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771804 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771804 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786703483.03305626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532916 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532916 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702480 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702480 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 23 warnings · 53 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269737 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269737 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823616 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823616 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558821 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558821 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592476 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592476 ms (missed cycles : 3).[0m ×2 + 3.75sINFOjoint_trajectory_controllerGoal reached, success! + 3.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786703482.43672848 seconds ×3 + 3.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 7.47) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-2.47, 7.50) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.183ms + 3.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.060ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771804 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771804 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786703483.03305626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532916 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532916 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702480 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702480 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 23 warnings · 53 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269737 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269737 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823616 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823616 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558821 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558821 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592476 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592476 ms (missed cycles : 3).[0m ×2 + 3.75sINFOjoint_trajectory_controllerGoal reached, success! + 3.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786703482.43672848 seconds ×3 + 3.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 7.47) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-2.47, 7.50) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.183ms + 3.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.060ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771804 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771804 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786703483.03305626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532916 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532916 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702480 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702480 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 23 warnings · 53 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269737 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269737 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823616 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823616 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558821 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558821 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592476 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592476 ms (missed cycles : 3).[0m ×2 + 3.75sINFOjoint_trajectory_controllerGoal reached, success! + 3.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786703482.43672848 seconds ×3 + 3.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 7.47) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-2.47, 7.50) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.183ms + 3.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.060ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771804 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771804 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786703483.03305626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532916 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532916 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702480 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702480 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 23 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243032 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243032 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904281 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904281 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749582 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749582 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880881 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880881 ms (missed cycles : 5).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! + 3.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786703520.99096274 seconds ×3 + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sWARNlocal_costmap.local_costmapSensor origin at (-0.65, 3.28) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.18sWARNlocal_costmap.local_costmapSensor origin at (-1.55, 3.27) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.717ms + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960494 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960494 ms (missed cycles : 3).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.489ms + 4.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786703521.57763052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (5.53e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867802 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867802 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186077 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186077 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.33sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_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 + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090746 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090746 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079900 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079900 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620364 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620364 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992786 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992786 ms (missed cycles : 2).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786703665.90097117 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786703666.49341917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322479 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322479 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731723 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731723 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527153 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527153 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.33sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_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 + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090746 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090746 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079900 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079900 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620364 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620364 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992786 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992786 ms (missed cycles : 2).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786703665.90097117 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786703666.49341917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322479 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322479 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731723 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731723 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527153 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527153 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090746 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090746 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079900 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079900 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620364 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620364 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992786 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992786 ms (missed cycles : 2).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786703665.90097117 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786703666.49341917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322479 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322479 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731723 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731723 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527153 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527153 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 5.35sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.35sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sINFOjoint_trajectory_controllerReceived new action goal + 5.70sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 51 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217811 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217811 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921971 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921971 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478665 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478665 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449732 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449732 ms (missed cycles : 3).[0m ×2 + 3.83sINFOjoint_trajectory_controllerGoal reached, success! + 3.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786703422.06356716 seconds ×3 + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 1.990ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721865 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721865 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786703422.65165448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745354 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745354 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeFound path in 0 iterations (2.9944e-05 s). ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.52sINFOjoint_trajectory_controllerReceived new action goal + 5.52sINFOjoint_trajectory_controllerAccepted new action goal + 5.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133620 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133620 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 23 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243032 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243032 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904281 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904281 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749582 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749582 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880881 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880881 ms (missed cycles : 5).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! + 3.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786703520.99096274 seconds ×3 + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sWARNlocal_costmap.local_costmapSensor origin at (-0.65, 3.28) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.18sWARNlocal_costmap.local_costmapSensor origin at (-1.55, 3.27) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.717ms + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960494 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960494 ms (missed cycles : 3).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.489ms + 4.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786703521.57763052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (5.53e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867802 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867802 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186077 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186077 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 23 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243032 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243032 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904281 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904281 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749582 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749582 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880881 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880881 ms (missed cycles : 5).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! + 3.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786703520.99096274 seconds ×3 + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sWARNlocal_costmap.local_costmapSensor origin at (-0.65, 3.28) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.18sWARNlocal_costmap.local_costmapSensor origin at (-1.55, 3.27) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.717ms + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960494 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960494 ms (missed cycles : 3).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.489ms + 4.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786703521.57763052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (5.53e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867802 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867802 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186077 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186077 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090746 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090746 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079900 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079900 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620364 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620364 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992786 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992786 ms (missed cycles : 2).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786703665.90097117 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786703666.49341917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322479 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322479 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731723 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731723 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527153 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527153 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090746 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090746 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079900 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079900 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620364 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620364 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992786 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992786 ms (missed cycles : 2).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786703665.90097117 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786703666.49341917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322479 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322479 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731723 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731723 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527153 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527153 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090746 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090746 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079900 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079900 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620364 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620364 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992786 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992786 ms (missed cycles : 2).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786703665.90097117 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786703666.49341917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322479 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322479 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731723 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731723 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527153 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527153 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090746 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090746 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079900 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079900 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620364 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620364 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992786 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992786 ms (missed cycles : 2).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786703665.90097117 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786703666.49341917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322479 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322479 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731723 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731723 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527153 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527153 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 83 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.283ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549144 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549144 ms (missed cycles : 2).[0m ×2 + 0.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.199ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.585ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701650 ms (missed cycles : 3). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701650 ms (missed cycles : 3).[0m ×2 + 1.42sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.546ms + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868102 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868102 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.658ms + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902842 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902842 ms (missed cycles : 3).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.958ms + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786703737.52842355 seconds ×3 + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.154ms + 4.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786703738.14321327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.78sINFOmove_groupClearing octomap...[0m ×2 + 4.78sINFOmove_groupOctomap cleared.[0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889855 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889855 ms (missed cycles : 2).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786703738.80335689 seconds ×3 + 6.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786703739.38037157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261629 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261629 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786703739.98050022 seconds ×3 + 6.85sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[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 · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 27 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.33sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_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 + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 7.02sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 7.03sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.38sINFOjoint_trajectory_controllerReceived new action goal + 7.38sINFOjoint_trajectory_controllerAccepted new action goal + 7.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398818 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398818 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 2.72sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.82sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.82sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.38sINFOmove_groupClearing octomap...[0m ×2 + 4.38sINFOmove_groupOctomap cleared.[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 6.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 6.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.33sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_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 + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 187 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398818 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398818 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 2.72sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.82sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.82sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.38sINFOmove_groupClearing octomap...[0m ×2 + 4.38sINFOmove_groupOctomap cleared.[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 6.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.33sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_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 + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.33sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_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 + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.33sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_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 + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869989 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.33sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 5.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_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 + 5.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[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 · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[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 · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331027 ms (missed cycles : 2).[0m ×2 + 0.65sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911327 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979291 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703376.40723062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703376.41743064 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703377.00168514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703377.01180315 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591395 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703377.59522820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703377.74592805 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703378.38078809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648324 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703378.45091534 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786703379.02482438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179076 ms (missed cycles : 2).[0m ×2 + 6.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512464 ms (missed cycles : 2).[0m ×2 | ||||