MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.8s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	33.0s	12 errors · 310 warnings · 1403 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/2026-08-14-14-42-06-410327-d3256276a72c-9377 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.76sINFOstatic_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' + 13.76sINFOstatic_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' + 13.77sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 13.78sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.78sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.78sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 13.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 13.79sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.82sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.82sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.82sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.82sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.83sINFOmap_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. + 13.83sINFOmap_serverCreating + 13.87sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.89sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.90sINFOcontroller_managerupdate rate is 600 Hz + 13.90sINFOcontroller_managerOverruns handling is : enabled + 13.90sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.90sWARNcontroller_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. + 13.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 13.95sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 13.96sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.96sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.05sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.06sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.06sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.06sINFOros2_control_node-9process started with pid [9435] ×2 + 14.06sINFOmove_group-21process started with pid [9527] ×2 + 14.06sINFOparameter_manager_node-22process started with pid [9528] ×2 + 14.06sINFOwaypoint_manager_node-23process started with pid [9529] ×2 + 14.06sINFOmove_joint_resampler_node-24process started with pid [9549] ×2 + 14.06sINFOmove_end_effector_resampler_node-25process started with pid [9550] ×2 + 14.06sINFOobjective_server_node_main-26process started with pid [9551] ×2 + 14.06sINFOcomponent_container_mt-27process started with pid [9552] ×2 + 14.06sINFOcomponent_container_mt-28process started with pid [9553] ×2 + 14.06sINFOexecute_objective_bridge-29process started with pid [9554] ×2 + 14.06sINFOui_teleop_bridge-30process started with pid [9555] ×2 + 14.06sINFOweb_bridge-31process started with pid [9556] ×2 + 14.06sINFOtf2_web_republisher_node-32process started with pid [9558] ×2 + 14.06sINFOvideo_server-33process started with pid [9559] ×2 + 14.07sINFOweb_bridge_auth_proxy-34process started with pid [9566] ×2 + 14.07sINFOweb_video_auth_proxy-35process started with pid [9569] ×2 + 14.10sINFOcomponent_container_isolated-1process started with pid [9427] ×2 + 14.10sINFOcomponent_container_isolated-2process started with pid [9428] ×2 + 14.10sINFOstatic_transform_publisher-3process started with pid [9429] ×2 + 14.10sINFOstatic_transform_publisher-4process started with pid [9430] ×2 + 14.11sINFOodom_qos_relay.py-5process started with pid [9431] ×2 + 14.11sINFOforward_stereo_publisher.py-6process started with pid [9432] ×2 + 14.11sINFOscan_to_scan_filter_chain-7process started with pid [9433] ×2 + 14.11sINFOscan_to_scan_filter_chain-8process started with pid [9434] ×2 + 14.11sINFOros2-10process started with pid [9516] ×2 + 14.11sINFOlifecycle_manager_localizationCreating + 14.12sINFOros2-11process started with pid [9517] ×2 + 14.12sINFOros2-12process started with pid [9518] ×2 + 14.12sINFOros2-13process started with pid [9519] ×2 + 14.12sINFOros2-14process started with pid [9520] ×2 + 14.12sINFOros2-15process started with pid [9521] ×2 + 14.12sINFOros2-16process started with pid [9522] ×2 + 14.12sINFOros2-17process started with pid [9523] ×2 + 14.12sINFOros2-18process started with pid [9524] ×2 + 14.12sINFOros2-19process started with pid [9525] ×2 + 14.12sINFOros2-20process started with pid [9526] ×2 + 14.14sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.15sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.16sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.16sINFOmap_serverConfiguring + 14.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.18sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.20sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.20sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.22sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.23sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.24sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.24sINFOamclConfiguring + 14.24sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.24sINFOmap_serverActivating + 14.25sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.25sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.25sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.25sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.26sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.26sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.26sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.27sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.27sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.27sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.27sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875278 ms (missed cycles : 2). + 14.27sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.27sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 14.29sINFOcontroller_serverCreating controller server + 14.30sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.31sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.32sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.32sINFOrobot_state_publisherRobot initialized + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875278 ms (missed cycles : 2).[0m ×2 + 14.33sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.33sINFOcontroller_managerReceived robot description from topic. + 14.33sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.34sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.34sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.34sINFOlocal_costmap.local_costmapCreating Costmap + 14.34sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.36sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.36sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.36sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.36sINFOamclActivating + 14.36sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.37sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.37sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.37sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.38sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.38sINFOamclSubscribed to map_topic: /map + 14.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.38sINFOamclSubscribed to scan_topic: /scan_merged + 14.39sINFOamclCreated reinitialize_global_localization service + 14.39sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.39sINFOamclCreated request_nomotion_update service + 14.40sINFOamclA new map was received + 14.40sINFOamclInitializing particle filter instance + 14.40sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.41sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.42sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.42sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.42sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.43sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.45sINFOsmoother_serverCreating smoother server + 14.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.46sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.47sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.47sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.48sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.49sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.49sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.52sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.55sINFOplanner_serverCreating + 14.58sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.59sINFOglobal_costmap.global_costmapCreating Costmap + 14.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.62sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.65sINFOvideo_server2026/08/14 14:42:24 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.65sINFOvideo_server2026/08/14 14:42:24 INF configuration loaded from /tmp/moveit-webrtc-t02qv7ks/mediamtx.yml ×2 + 14.65sINFOvideo_server2026/08/14 14:42:24 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.65sINFOvideo_server2026/08/14 14:42:24 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.67sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.67sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.407741 seconds + 14.67sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.67sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.68sINFOmove_groupLoaded robot model in 0.407741 seconds[0m ×2 + 14.68sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.68sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.73sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.77sWARNlaser_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. + 14.77sWARNlaser_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. + 14.78sWARNscan_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 + 14.81sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.83sINFObt_navigatorCreating + 14.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.85sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.89sINFOwaypoint_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. + 14.90sINFOwaypoint_followerCreating + 14.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.97sINFOvelocity_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. + 14.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.98sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.99sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.99sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.00sINFOwaypoint_manager_nodeLoaded robot model in 0.334506 seconds[0m ×2 + 15.00sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.00sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.02sINFOlifecycle_manager_navigationCreating + 15.03sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 15.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 15.07sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 15.07sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 15.07sINFOcontroller_serverConfiguring controller interface + 15.07sINFOcontroller_servergetting progress checker plugins.. + 15.07sINFOcontroller_servergetting goal checker plugins.. + 15.07sINFOcontroller_serverController frequency set to 20.0000Hz + 15.07sINFOlocal_costmap.local_costmapConfiguring + 15.09sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 15.12sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 15.15sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.15sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.16sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.21sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.22sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.22sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.23sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.24sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.25sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.26sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.26sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.27sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.27sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.27sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.27sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.28sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.28sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.29sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.29sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.29sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981044 ms (missed cycles : 2). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981044 ms (missed cycles : 2).[0m ×2 + 15.30sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.30sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.30sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.30sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.31sINFOcontroller_serverOptimizer reset ×2 + 15.32sINFOcontroller_serverController Server has FollowPath controllers available. + 15.34sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.34sINFOsmoother_serverConfiguring smoother server + 15.36sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.37sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.39sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.39sINFOplanner_serverConfiguring + 15.39sINFOglobal_costmap.global_costmapConfiguring + 15.40sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.41sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.41sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.41sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.41sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.42sINFOamclParticle filter initialization completed + 15.42sINFOamclInitializing particles from estimated pose and covariance + 15.42sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.43sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.43sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.43sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.44sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.44sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.45sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.48sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.48sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.48sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.49sINFOplanner_serverPlanner Server has GridBased planners available. + 15.51sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.51sINFObehavior_serverConfiguring + 15.51sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.51sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.52sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.52sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.52sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.53sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.53sINFObehavior_serverConfiguring spin + 15.56sINFObehavior_serverConfiguring backup + 15.57sINFObehavior_serverConfiguring drive_on_heading + 15.58sINFObehavior_serverConfiguring assisted_teleop + 15.59sINFObehavior_serverConfiguring wait + 15.60sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.61sINFObt_navigatorConfiguring + 15.63sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.64sWARNbt_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 + 15.90sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.91sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.91sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.91sWARNmove_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. + 15.91sWARNmove_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. + 15.91sWARNmove_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 + 15.91sWARNmove_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. + 15.91sWARNmove_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. + 15.92sWARNmove_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. + 15.92sWARNmove_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. + 15.92sWARNmove_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 + 15.92sWARNmove_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 + 15.92sWARNmove_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 + 15.92sWARNmove_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 + 15.92sWARNmove_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. + 15.92sWARNmove_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. + 15.92sWARNmove_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 + 15.92sWARNmove_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 + 15.93sWARNmove_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. + 15.93sWARNmove_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 + 15.93sWARNmove_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. + 15.94sWARNmove_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 + 15.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.03sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 16.03sINFOwaypoint_followerConfiguring + 16.10sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.11sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.12sINFOvelocity_smootherConfiguring velocity smoother + 16.14sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.14sINFOcontroller_serverActivating + 16.14sINFOlocal_costmap.local_costmapActivating + 16.14sINFOlocal_costmap.local_costmapChecking transform + 16.14sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×11 + 16.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.31sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.31sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.31sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.31sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.33sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.33sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.33sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.33sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.33sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.33sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.33sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.36sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.36sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.36sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.40sINFOmove_group[2026-08-14 14:42:26.253] [moveit_pro_license] [info] ×2 + 16.40sINFOmove_group************************************************* ×4 + 16.40sINFOmove_group* MoveIt Pro License ×2 + 16.41sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.43sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.43sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.43sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.43sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.976912 ms (missed cycles : 6). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.976912 ms (missed cycles : 6).[0m ×2 + 16.68sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 16.68sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.80sINFOwaypoint_manager_node[2026-08-14 14:42:26.650] [moveit_pro_license] [info] ×2 + 16.80sINFOwaypoint_manager_node************************************************* ×4 + 16.80sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.80sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.01sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.01sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.01sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.02sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.02sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.02sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.02sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.02sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.03sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.03sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.03sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.03sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.03sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.03sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.03sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.03sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.03sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.03sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.03sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.03sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.04sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.04sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.47sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.47sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.49sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.58sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 17.62sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 17.62sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 17.76sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.76sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.76sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.76sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.76sWARNros2_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 + 17.76sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.76sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 17.76sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 17.76sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.76sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 17.76sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.76sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 17.76sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 17.76sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 17.76sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 17.76sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 17.76sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 17.76sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.76sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.76sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 17.76sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.76sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.76sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 17.76sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 17.76sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 17.76sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 17.76sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 17.76sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 17.76sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.76sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.76sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 17.76sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.76sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.76sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.76sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.76sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.76sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.76sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.76sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.77sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910543 ms (missed cycles : 2). + 17.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 17.77sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 17.77sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.77sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.77sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.77sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.77sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.77sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.77sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.77sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910543 ms (missed cycles : 2).[0m ×2 + 17.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.77sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.79sWARNcomponent_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 + 17.81sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.81sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.82sWARNros2_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 + 17.94sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 17.94sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 17.94sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 17.95sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 17.95sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 + 17.95sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 [0m ×2 + 17.98sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 17.98sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 17.98sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 17.98sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 18.02sINFOforce_torque_sensor_broadcasterconfigure successful + 18.02sINFOros2_control_nodeconfigure successful[0m ×6 + 18.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 18.02sINFOcontroller_managerSuccessfully switched controllers! ×19 + 18.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 18.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 18.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 18.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 18.05sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 18.10sINFOcomponent_container_mtLoaded robot model in 0.316204 seconds[0m ×2 + 18.10sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.10sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.25sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.26sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.28sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.28sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.28sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.28sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.28sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.28sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 18.28sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.29sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 18.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.29sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.29sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.33sINFOobjective_server_node[2026-08-14 14:42:28.184] [moveit_pro_license] [info] ×2 + 18.33sINFOobjective_server_node************************************************* ×4 + 18.33sINFOobjective_server_node* MoveIt Pro License ×2 + 18.33sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.33sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 18.33sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 18.33sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 18.33sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 18.40sINFOros2-10process has finished cleanly [pid 9516] ×2 + 18.42sINFOobjective_server_nodeLoaded robot model in 0.0245379 seconds[0m ×2 + 18.42sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.42sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.48sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 + 18.49sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 [0m ×2 + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.52sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.53sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.55sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 18.55sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 18.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.58sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 18.58sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 18.58sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 18.59sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 18.61sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.61sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.72sWARNplanning_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. + 18.72sWARNplanning_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. + 18.72sWARNcomponent_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 + 18.72sWARNplanning_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. + 18.72sWARNplanning_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. + 18.72sWARNplanning_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. + 18.72sWARNplanning_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. + 18.72sWARNcomponent_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 + 18.72sWARNcomponent_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 + 18.72sWARNcomponent_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 + 18.72sWARNcomponent_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 + 18.72sWARNplanning_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. + 18.72sWARNplanning_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. + 18.73sWARNcomponent_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 + 18.73sWARNplanning_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. + 18.73sWARNcomponent_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 + 18.73sWARNplanning_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. + 18.73sWARNplanning_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. + 18.73sWARNplanning_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. + 18.73sWARNplanning_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. + 18.73sWARNcomponent_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 + 18.73sWARNplanning_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. + 18.73sWARNcomponent_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 + 18.73sWARNcomponent_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 + 18.73sWARNplanning_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. + 18.73sWARNcomponent_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 + 18.73sWARNcomponent_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 + 18.73sWARNplanning_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. + 18.73sWARNplanning_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. + 18.73sWARNcomponent_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 + 18.73sWARNcomponent_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 + 18.73sWARNplanning_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. + 18.73sWARNcomponent_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 + 18.73sWARNcomponent_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 + 18.73sWARNplanning_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. + 18.73sWARNplanning_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. + 18.73sWARNplanning_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. + 18.73sWARNcomponent_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 + 18.73sWARNplanning_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. + 18.73sWARNcomponent_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 + 18.73sWARNplanning_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. + 18.73sWARNplanning_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. + 18.73sWARNplanning_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. + 18.73sWARNplanning_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. + 18.73sWARNcomponent_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 + 18.74sWARNcomponent_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 + 18.74sWARNplanning_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. + 18.74sWARNplanning_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. + 18.74sWARNcomponent_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 + 18.74sWARNcomponent_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 + 18.74sWARNcomponent_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 + 18.74sWARNcomponent_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 + 18.74sWARNcomponent_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 + 18.74sWARNcomponent_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 + 18.74sWARNcomponent_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 + 18.74sWARNcomponent_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 + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009956 ms (missed cycles : 2). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009956 ms (missed cycles : 2).[0m ×2 + 18.96sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 19.01sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 19.01sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 19.01sWARNobjective_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. + 19.01sWARNobjective_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. + 19.01sWARNobjective_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. + 19.01sWARNobjective_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. + 19.01sWARNobjective_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. + 19.01sWARNobjective_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. + 19.01sWARNobjective_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 + 19.01sWARNobjective_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 + 19.01sWARNobjective_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 + 19.01sWARNobjective_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. + 19.01sWARNobjective_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. + 19.01sWARNobjective_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. + 19.01sWARNobjective_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. + 19.01sWARNobjective_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 + 19.01sWARNobjective_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 + 19.01sWARNobjective_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 + 19.01sWARNobjective_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 + 19.01sWARNobjective_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 + 19.01sWARNobjective_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 + 19.01sWARNobjective_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 + 19.02sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786718547.756 for reason 'discarding message because the queue is full' + 19.03sINFOcomponent_container_mt[2026-08-14 14:42:28.884] [moveit_pro_license] [info] ×2 + 19.03sINFOcomponent_container_mt************************************************* ×4 + 19.03sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.03sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.04sINFOmove_groupMoveGroup debug mode is ON + 19.04sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 19.04sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 19.07sINFOobjective_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 + 19.07sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 19.09sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 19.09sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.09sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 19.09sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 19.09sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 19.09sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 19.09sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 19.09sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 19.09sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 19.09sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.09sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.09sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.10sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.10sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.16sINFOros2_control_node[2026-08-14 14:42:29.012] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.16sINFOros2_control_node[2026-08-14 14:42:29.016] [info] Controller state will be published at 10 Hz. ×2 + 19.16sINFOros2_control_node[2026-08-14 14:42:29.018] [info] VelocityForceController 'on_configure' succeeded. ×2 + 19.21sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 19.21sINFOmove_group ×8 + 19.21sINFOmove_group****************************************************** ×4 + 19.21sINFOmove_group* MoveGroup using: ×2 + 19.21sINFOmove_group* - apply_planning_scene_service ×2 + 19.21sINFOmove_group* - clear_octomap_service ×2 + 19.21sINFOmove_group* - get_group_urdf ×2 + 19.21sINFOmove_group* - load_geometry_from_file ×2 + 19.21sINFOmove_group* - get_planning_scene_service ×2 + 19.21sINFOmove_group* - kinematics_service ×2 + 19.21sINFOmove_group* - save_geometry_to_file ×2 + 19.21sINFOmove_group* - GetPlanningGroups ×2 + 19.21sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.21sINFOmove_group[0m ×2 + 19.21sINFOmove_group[92mYou can start planning now![0m ×2 + 19.38sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.39sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.40sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.51sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 19.51sINFOcontroller_managerLoading controller 'vacuum_gripper' + 19.51sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 19.51sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 19.51sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 + 19.52sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 [0m ×2 + 19.53sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 19.53sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 19.57sINFOros2-18process has finished cleanly [pid 9524] ×2 + 19.58sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 19.58sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 19.58sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 19.58sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 19.58sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 19.58sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 19.58sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 19.58sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 19.59sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 19.59sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 19.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.60sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 19.64sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 19.64sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.69sWARNros2_control_nodeCamera render tick took 0.68 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487943 ms (missed cycles : 2). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487943 ms (missed cycles : 2).[0m ×2 + 19.93sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 19.93sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 19.93sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 19.93sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 19.94sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 + 19.94sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 [0m ×2 + 19.98sINFOros2-14process has finished cleanly [pid 9520] ×2 + 20.00sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 20.00sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 20.01sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 20.01sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 20.01sINFOplatform_velocity_controllerconfigure successful + 20.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 20.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 20.02sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 20.02sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 20.34sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 20.34sINFOcontroller_managerLoading controller 'velocity_force_controller' + 20.34sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 + 20.34sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 20.34sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 20.34sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 [0m ×2 + 20.40sINFOros2-13process has finished cleanly [pid 9519] ×2 + 20.41sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 20.41sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 20.41sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 20.41sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 20.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929534 ms (missed cycles : 2). + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929534 ms (missed cycles : 2).[0m ×2 + 20.87sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 20.93sINFOros2_control_node[2026-08-14 14:42:30.787] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 20.93sINFOros2_control_node[2026-08-14 14:42:30.789] [info] Controller state will be published at 10 Hz. ×2 + 20.94sINFOros2_control_node[2026-08-14 14:42:30.790] [info] VelocityForceController 'on_configure' succeeded. ×2 + 21.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 21.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 21.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 21.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 21.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 + 21.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 [0m ×2 + 21.33sINFOros2-17process has finished cleanly [pid 9523] ×2 + 21.34sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 21.34sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 21.34sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 21.34sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 21.34sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 21.34sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 21.35sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 21.35sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 21.36sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 21.36sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 21.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.52sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.463ms + 21.62sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786718550.356 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 21.64sINFOlocal_costmap.local_costmapstart + 21.72sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 21.72sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 21.72sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 21.72sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 21.73sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 + 21.73sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 [0m ×2 + 21.74sWARNcontroller_serverParameter controller_server.verbose not found + 21.74sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 21.75sINFOros2-12process has finished cleanly [pid 9518] ×2 + 21.75sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 21.79sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 21.79sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 21.79sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 21.79sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 21.80sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 21.80sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 21.80sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 21.80sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 21.86sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 21.86sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 21.86sINFOsmoother_serverActivating + 21.86sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 21.96sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 21.96sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 21.96sINFOplanner_serverActivating + 21.96sINFOglobal_costmap.global_costmapActivating + 21.96sINFOglobal_costmap.global_costmapChecking transform + 21.96sINFOglobal_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 1786718551.768923 but the earliest data is at time 1786718552.256238, when looking up transform from frame [ridgeback_base_link] to frame [map] + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708143 ms (missed cycles : 2). + 22.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708143 ms (missed cycles : 2).[0m ×2 + 22.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 22.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 22.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 22.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 22.20sINFOros2-11process has finished cleanly [pid 9517] ×2 + 22.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 + 22.25sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 [0m ×2 + 22.31sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 22.31sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 22.31sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 22.31sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 22.46sINFOglobal_costmap.global_costmapstart + 22.86sINFOros2_control_node[2026-08-14 14:42:32.711] [info] Controller state will be published at 20 Hz. ×2 + 22.86sINFOros2_control_node[2026-08-14 14:42:32.712] [info] JointVelocityController 'on_configure' succeeded. ×2 + 23.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372456 ms (missed cycles : 3). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372456 ms (missed cycles : 3).[0m ×2 + 23.22sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 23.22sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 23.22sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 + 23.22sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 23.22sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 23.23sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 [0m ×2 + 23.27sINFOros2-20process has finished cleanly [pid 9526] ×2 + 23.29sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 23.29sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 23.29sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 23.29sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 23.29sINFOplatform_velocity_controller_nav2configure successful + 23.52sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 23.52sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 23.62sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 23.62sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 23.62sINFObehavior_serverActivating + 23.62sINFObehavior_serverActivating spin + 23.62sINFObehavior_serverActivating backup + 23.63sINFObehavior_serverActivating drive_on_heading + 23.63sINFObehavior_serverActivating assisted_teleop + 23.63sINFObehavior_serverActivating wait + 23.63sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 23.74sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 23.74sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 23.74sINFObt_navigatorActivating + 23.74sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 23.74sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 23.74sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 23.74sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 23.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 + 23.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 [0m ×2 + 23.78sINFOros2-15process has finished cleanly [pid 9521] ×2 + 23.85sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 23.89sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 23.89sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 23.89sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 23.89sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 23.89sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 23.89sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 23.90sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 23.90sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 23.90sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 23.90sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 23.90sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 23.90sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 23.90sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 23.90sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 23.90sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 23.95sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 23.95sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 23.96sINFOwaypoint_followerActivating + 23.96sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 24.06sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 24.06sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 24.06sINFOvelocity_smootherActivating + 24.06sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 24.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653063 ms (missed cycles : 2). + 24.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653063 ms (missed cycles : 2).[0m ×2 + 24.16sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 24.17sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 24.17sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 24.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 24.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 24.26sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 + 24.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 24.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 24.26sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tta6g45q --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_ic716x_g --params-file /tmp/launch_params_keoej9b9 [0m ×2 + 24.29sINFOros2-16process has finished cleanly [pid 9522] ×2 + 24.33sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 24.33sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 24.33sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 24.33sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 24.87sINFOros2_control_node[2026-08-14 14:42:34.725] [info] Controller state will be published at 20 Hz. ×2 + 24.87sINFOros2_control_node[2026-08-14 14:42:34.726] [info] JointVelocityController 'on_configure' succeeded. ×2 + 24.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 24.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 24.97sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 24.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 24.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 24.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 24.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.99sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 25.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831125 ms (missed cycles : 3). + 25.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831125 ms (missed cycles : 3).[0m ×2 + 25.25sINFOros2-19process has finished cleanly [pid 9525] ×2 + 26.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685049 ms (missed cycles : 3). + 26.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685049 ms (missed cycles : 3).[0m ×2 + 27.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 27.83sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 28.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 29.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 29.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 30.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 30.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 30.21sINFOmove_groupClearing octomap...[0m ×2 + 30.21sINFOmove_groupOctomap cleared.[0m ×2 + 30.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 30.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 30.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 31.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 31.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 31.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 32.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 32.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 32.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 32.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 32.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 32.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 32.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 32.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	74.4s	3 errors · 246 warnings · 243 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672631 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672631 ms (missed cycles : 2).[0m ×2 + 0.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.450ms + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.970ms + 1.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.948ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657656 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657656 ms (missed cycles : 3).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.499ms + 2.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.220ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690917 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690917 ms (missed cycles : 3).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.080ms + 3.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.257ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699834 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699834 ms (missed cycles : 3).[0m ×2 + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.974ms + 4.07sINFOamclParticle filter update iteration stats: 4384 particles 723 points - 7.753ms + 4.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOjoint_trajectory_controllerGot request to cancel goal + 4.24sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.24sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.25sERRORobjective_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: 1786718771.45873404 seconds ×3 + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.28sINFOros2_control_nodeActivating 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 6.698158 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.698158 ms (missed cycles : 5).[0m ×2 + 4.29sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.09) is out of map bounds (-2.55, -2.50) to (2.43, 2.47). The costmap cannot raytrace for it. + 4.29sWARNlocal_costmap.local_costmapSensor origin at (-1.50, 3.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.47). The costmap cannot raytrace for it. + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.453ms + 4.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.916ms + 4.84sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786718772.05172038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.24sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504276 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504276 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325196 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325196 ms (missed cycles : 3).[0m ×2 + 7.39sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.44sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.44sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.44sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.44sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868575 ms (missed cycles : 3). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868575 ms (missed cycles : 3).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436559 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436559 ms (missed cycles : 3).[0m ×2 + 9.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.381ms + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177577 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177577 ms (missed cycles : 2).[0m ×2 + 9.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.730ms + 10.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.749ms + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066237 ms (missed cycles : 2). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066237 ms (missed cycles : 2).[0m ×2 + 10.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.087ms + 11.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.201ms + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692189 ms (missed cycles : 3). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692189 ms (missed cycles : 3).[0m ×2 + 11.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.930ms + 12.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.441ms + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373129 ms (missed cycles : 3). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373129 ms (missed cycles : 3).[0m ×2 + 12.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.191ms + 13.38sINFOamclParticle filter update iteration stats: 3969 particles 723 points - 8.222ms + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860718 ms (missed cycles : 4). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860718 ms (missed cycles : 4).[0m ×2 + 13.87sINFOamclParticle filter update iteration stats: 3274 particles 723 points - 4.569ms + 14.37sINFOamclParticle filter update iteration stats: 2888 particles 723 points - 3.957ms + 14.87sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 4.649ms + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147369 ms (missed cycles : 4). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147369 ms (missed cycles : 4).[0m ×2 + 15.37sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 2.592ms + 15.87sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.298ms + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057475 ms (missed cycles : 3). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057475 ms (missed cycles : 3).[0m ×2 + 16.37sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.658ms + 16.87sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 2.012ms + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984905 ms (missed cycles : 2). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984905 ms (missed cycles : 2).[0m ×2 + 17.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 17.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755413 ms (missed cycles : 2). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755413 ms (missed cycles : 2).[0m ×2 + 18.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.078ms + 18.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792373 ms (missed cycles : 2). + 19.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792373 ms (missed cycles : 2).[0m ×2 + 19.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 19.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.029ms + 20.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636493 ms (missed cycles : 4). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636493 ms (missed cycles : 4).[0m ×2 + 20.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 20.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.792ms + 21.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598443 ms (missed cycles : 3). + 21.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598443 ms (missed cycles : 3).[0m ×2 + 21.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 21.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.540ms + 22.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477401 ms (missed cycles : 3). + 22.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477401 ms (missed cycles : 3).[0m ×2 + 22.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 22.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 23.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441825 ms (missed cycles : 3). + 23.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441825 ms (missed cycles : 3).[0m ×2 + 23.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 23.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 24.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327929 ms (missed cycles : 2). + 24.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327929 ms (missed cycles : 2).[0m ×2 + 24.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 24.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.670ms + 25.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 25.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146363 ms (missed cycles : 2). + 25.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146363 ms (missed cycles : 2).[0m ×2 + 25.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 26.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 26.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421756 ms (missed cycles : 3). + 26.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421756 ms (missed cycles : 3).[0m ×2 + 26.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 27.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms ×3 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361676 ms (missed cycles : 3). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361676 ms (missed cycles : 3).[0m ×2 + 27.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms ×2 + 28.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521399 ms (missed cycles : 4). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521399 ms (missed cycles : 4).[0m ×2 + 28.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 29.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 29.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820187 ms (missed cycles : 4). + 29.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820187 ms (missed cycles : 4).[0m ×2 + 29.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms ×2 + 30.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 30.49sINFOros2_control_nodeMuJoCo sim: 1.74% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 30.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191095 ms (missed cycles : 3). + 30.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191095 ms (missed cycles : 3).[0m ×2 + 30.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 31.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 31.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401889 ms (missed cycles : 4). + 31.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401889 ms (missed cycles : 4).[0m ×2 + 31.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 32.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 32.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512961 ms (missed cycles : 3). + 32.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512961 ms (missed cycles : 3).[0m ×2 + 32.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 33.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003134 ms (missed cycles : 4). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003134 ms (missed cycles : 4).[0m ×2 + 33.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms ×2 + 34.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236849 ms (missed cycles : 3). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236849 ms (missed cycles : 3).[0m ×2 + 35.82sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.82sINFOros2_control_nodeGoal reached, success![0m ×8 + 36.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333565 ms (missed cycles : 2). + 36.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333565 ms (missed cycles : 2).[0m ×2 + 36.06sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.95sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 36.95sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 37.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534027 ms (missed cycles : 3). + 37.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534027 ms (missed cycles : 3).[0m ×2 + 38.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438880 ms (missed cycles : 3). + 38.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438880 ms (missed cycles : 3).[0m ×2 + 39.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149797 ms (missed cycles : 4). + 39.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149797 ms (missed cycles : 4).[0m ×2 + 39.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 39.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 40.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835134 ms (missed cycles : 3). + 40.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835134 ms (missed cycles : 3).[0m ×2 + 40.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.207ms + 41.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.678673 ms (missed cycles : 5). + 41.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.678673 ms (missed cycles : 5).[0m ×2 + 41.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 42.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829383 ms (missed cycles : 4). + 42.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829383 ms (missed cycles : 4).[0m ×2 + 42.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 43.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627245 ms (missed cycles : 4). + 43.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627245 ms (missed cycles : 4).[0m ×2 + 44.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954765 ms (missed cycles : 2). + 44.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954765 ms (missed cycles : 2).[0m ×2 + 45.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141061 ms (missed cycles : 3). + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141061 ms (missed cycles : 3).[0m ×2 + 46.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274952 ms (missed cycles : 3). + 46.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274952 ms (missed cycles : 3).[0m ×2 + 47.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 47.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215953 ms (missed cycles : 3). + 47.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215953 ms (missed cycles : 3).[0m ×2 + 48.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031695 ms (missed cycles : 3). + 48.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031695 ms (missed cycles : 3).[0m ×2 + 49.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 49.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674562 ms (missed cycles : 3). + 49.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674562 ms (missed cycles : 3).[0m ×2 + 50.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms + 50.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847490 ms (missed cycles : 3). + 50.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847490 ms (missed cycles : 3).[0m ×2 + 51.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 51.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284399 ms (missed cycles : 3). + 51.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284399 ms (missed cycles : 3).[0m ×2 + 52.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms + 52.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220090 ms (missed cycles : 3). + 52.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220090 ms (missed cycles : 3).[0m ×2 + 53.01sINFOobjective_server_nodePlanning for 40 path waypoints. ×3 + 53.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789670 ms (missed cycles : 2). + 53.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789670 ms (missed cycles : 2).[0m ×2 + 54.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725683 ms (missed cycles : 3). + 54.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725683 ms (missed cycles : 3).[0m ×2 + 55.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236519 ms (missed cycles : 4). + 55.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236519 ms (missed cycles : 4).[0m ×2 + 57.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729265 ms (missed cycles : 2). + 57.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729265 ms (missed cycles : 2).[0m ×2 + 57.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 58.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990640 ms (missed cycles : 3). + 58.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990640 ms (missed cycles : 3).[0m ×2 + 58.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 59.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271704 ms (missed cycles : 4). + 59.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271704 ms (missed cycles : 4).[0m ×2 + 59.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 60.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979752 ms (missed cycles : 3). + 60.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979752 ms (missed cycles : 3).[0m ×2 + 60.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 61.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 61.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717354 ms (missed cycles : 4). + 61.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717354 ms (missed cycles : 4).[0m ×2 + 61.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 62.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414300 ms (missed cycles : 3). + 62.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414300 ms (missed cycles : 3).[0m ×2 + 62.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 63.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945068 ms (missed cycles : 3). + 63.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945068 ms (missed cycles : 3).[0m ×2 + 63.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 64.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983418 ms (missed cycles : 3). + 64.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983418 ms (missed cycles : 3).[0m ×2 + 65.19sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 65.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705769 ms (missed cycles : 4). + 65.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705769 ms (missed cycles : 4).[0m ×2 + 66.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 67.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172804 ms (missed cycles : 4). + 67.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172804 ms (missed cycles : 4).[0m ×2 + 68.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456452 ms (missed cycles : 4). + 68.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456452 ms (missed cycles : 4).[0m ×2 + 69.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 69.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434588 ms (missed cycles : 2). + 69.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434588 ms (missed cycles : 2).[0m ×2 + 70.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 70.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377997 ms (missed cycles : 3). + 70.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377997 ms (missed cycles : 3).[0m ×2 + 71.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368754 ms (missed cycles : 3). + 71.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368754 ms (missed cycles : 3).[0m ×2 + 71.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 72.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 72.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763164 ms (missed cycles : 2). + 72.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763164 ms (missed cycles : 2).[0m ×2 + 72.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 73.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103417 ms (missed cycles : 3). + 73.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103417 ms (missed cycles : 3).[0m ×2 + 74.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 74.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361816 ms (missed cycles : 3). + 74.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361816 ms (missed cycles : 3).[0m ×2 + 75.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 75.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250168 ms (missed cycles : 4). + 75.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250168 ms (missed cycles : 4).[0m ×2 + 75.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 76.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293349 ms (missed cycles : 5). + 76.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293349 ms (missed cycles : 5).[0m ×2 + 77.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 77.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325164 ms (missed cycles : 2). + 77.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325164 ms (missed cycles : 2).[0m ×2 + 78.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.679646 ms (missed cycles : 5). + 78.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.679646 ms (missed cycles : 5).[0m ×2 + 78.61sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786718845.82188344 seconds ×3 + 78.69sWARNlocal_costmap.local_costmapSensor origin at (-2.24, 13.99) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 78.69sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.54) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 78.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.524ms + 78.79sWARNlocal_costmap.local_costmapSensor origin at (-0.70, 5.85) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 78.79sWARNlocal_costmap.local_costmapSensor origin at (-1.58, 5.65) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 78.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.550ms + 79.19sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786718846.40408444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 79.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044051 ms (missed cycles : 2). + 79.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044051 ms (missed cycles : 2).[0m ×2 + 80.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142958 ms (missed cycles : 2). + 80.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142958 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.0s	182 warnings · 225 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786718605.63840365 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742227 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742227 ms (missed cycles : 3).[0m ×2 + 0.29sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 1.909ms + 0.64sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786718606.22836733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070297 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070297 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeFound path in 0 iterations (2.4021e-05 s). ×2 + 1.86sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.88sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.88sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.88sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.88sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346859 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346859 ms (missed cycles : 4).[0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894859 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894859 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786718609.17849541 seconds ×3 + 4.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786718609.76858807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915512 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915512 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371864 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371864 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632956 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632956 ms (missed cycles : 3).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637495 ms (missed cycles : 3). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637495 ms (missed cycles : 3).[0m ×2 + 8.39sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.945ms + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540978 ms (missed cycles : 3). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540978 ms (missed cycles : 3).[0m ×2 + 8.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.842ms + 9.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048284 ms (missed cycles : 2). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048284 ms (missed cycles : 2).[0m ×2 + 9.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.178ms + 10.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.148ms + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924957 ms (missed cycles : 3). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924957 ms (missed cycles : 3).[0m ×2 + 10.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 11.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 11.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 12.09sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178053 ms (missed cycles : 2). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178053 ms (missed cycles : 2).[0m ×2 + 12.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 12.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215365 ms (missed cycles : 3). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215365 ms (missed cycles : 3).[0m ×2 + 13.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.289ms + 13.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.804ms + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786985 ms (missed cycles : 3). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786985 ms (missed cycles : 3).[0m ×2 + 14.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 14.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424187 ms (missed cycles : 3). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424187 ms (missed cycles : 3).[0m ×2 + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966474 ms (missed cycles : 3). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966474 ms (missed cycles : 3).[0m ×2 + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970557 ms (missed cycles : 3). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970557 ms (missed cycles : 3).[0m ×2 + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms ×2 + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463300 ms (missed cycles : 4). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463300 ms (missed cycles : 4).[0m ×2 + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841477 ms (missed cycles : 2). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841477 ms (missed cycles : 2).[0m ×2 + 19.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 20.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.948405 ms (missed cycles : 6). + 20.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.948405 ms (missed cycles : 6).[0m ×2 + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 21.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.133ms + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776300 ms (missed cycles : 4). + 22.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776300 ms (missed cycles : 4).[0m ×2 + 22.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 22.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 23.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172626 ms (missed cycles : 3). + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172626 ms (missed cycles : 3).[0m ×2 + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 24.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409685 ms (missed cycles : 4). + 24.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409685 ms (missed cycles : 4).[0m ×2 + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms ×2 + 24.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 25.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164427 ms (missed cycles : 3). + 25.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164427 ms (missed cycles : 3).[0m ×2 + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214994 ms (missed cycles : 4). + 26.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214994 ms (missed cycles : 4).[0m ×2 + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.387ms + 27.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673029 ms (missed cycles : 4). + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673029 ms (missed cycles : 4).[0m ×2 + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 27.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 28.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605076 ms (missed cycles : 2). + 28.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605076 ms (missed cycles : 2).[0m ×2 + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.297ms + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 29.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.191664 ms (missed cycles : 4). + 29.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.191664 ms (missed cycles : 4).[0m ×2 + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 30.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.166ms + 30.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285075 ms (missed cycles : 2). + 30.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285075 ms (missed cycles : 2).[0m ×2 + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 31.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.430664 ms (missed cycles : 3). + 31.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.430664 ms (missed cycles : 3).[0m ×2 + 32.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100056 ms (missed cycles : 2). + 32.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100056 ms (missed cycles : 2).[0m ×2 + 33.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 33.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507073 ms (missed cycles : 3). + 33.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507073 ms (missed cycles : 3).[0m ×2 + 33.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.215ms + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737660 ms (missed cycles : 3). + 35.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737660 ms (missed cycles : 3).[0m ×2 + 35.01sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.01sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566177 ms (missed cycles : 4). + 36.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566177 ms (missed cycles : 4).[0m ×2 + 37.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076418 ms (missed cycles : 2). + 37.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076418 ms (missed cycles : 2).[0m ×2 + 37.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 38.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103313 ms (missed cycles : 2). + 38.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103313 ms (missed cycles : 2).[0m ×2 + 38.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 39.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660914 ms (missed cycles : 4). + 39.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660914 ms (missed cycles : 4).[0m ×2 + 40.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2). + 40.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2).[0m ×2 + 41.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626360 ms (missed cycles : 4). + 41.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626360 ms (missed cycles : 4).[0m ×2 + 41.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 42.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257892 ms (missed cycles : 3). + 42.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257892 ms (missed cycles : 3).[0m ×2 + 43.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848368 ms (missed cycles : 4). + 43.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848368 ms (missed cycles : 4).[0m ×2 + 44.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819309 ms (missed cycles : 3). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819309 ms (missed cycles : 3).[0m ×2 + 45.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 45.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895086 ms (missed cycles : 3). + 45.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895086 ms (missed cycles : 3).[0m ×2 + 46.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092967 ms (missed cycles : 3). + 46.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092967 ms (missed cycles : 3).[0m ×2 + 47.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688622 ms (missed cycles : 3). + 47.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688622 ms (missed cycles : 3).[0m ×2 + 48.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220487 ms (missed cycles : 2). + 48.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220487 ms (missed cycles : 2).[0m ×2 + 49.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184252 ms (missed cycles : 2). + 49.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184252 ms (missed cycles : 2).[0m ×2 + 50.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884250 ms (missed cycles : 2). + 50.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884250 ms (missed cycles : 2).[0m ×2 + 51.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 52.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040304 ms (missed cycles : 2). + 52.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040304 ms (missed cycles : 2).[0m ×2 + 53.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694595 ms (missed cycles : 3). + 53.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694595 ms (missed cycles : 3).[0m ×2 + 54.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654188 ms (missed cycles : 3). + 54.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654188 ms (missed cycles : 3).[0m ×2 + 55.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574652 ms (missed cycles : 2). + 55.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574652 ms (missed cycles : 2).[0m ×2 + 55.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 56.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.618991 ms (missed cycles : 6). + 56.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.618991 ms (missed cycles : 6).[0m ×2 + 57.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177603 ms (missed cycles : 3). + 57.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177603 ms (missed cycles : 3).[0m ×2 + 58.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879705 ms (missed cycles : 2). + 58.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879705 ms (missed cycles : 2).[0m ×2 + 59.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583948 ms (missed cycles : 3). + 59.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583948 ms (missed cycles : 3).[0m ×2 + 59.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 60.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164263 ms (missed cycles : 3). + 60.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164263 ms (missed cycles : 3).[0m ×2 + 60.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786718666.19870806 seconds ×3 + 60.70sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.70sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.191ms + 61.21sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786718666.80197620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601261 ms (missed cycles : 3). + 61.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601261 ms (missed cycles : 3).[0m ×2 + 61.62sINFOobjective_server_nodeFound path in 0 iterations (8.38e-07 s). ×2 + 61.80sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052211 ms (missed cycles : 3). + 62.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052211 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.0s	182 warnings · 174 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592250 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592250 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268635 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268635 ms (missed cycles : 4).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708956 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708956 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.39sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786718852.24432802 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373393 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373393 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786718852.83667994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371352 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371352 ms (missed cycles : 3).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858836 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858836 ms (missed cycles : 3).[0m ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.41sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.41sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.41sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.41sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108102 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108102 ms (missed cycles : 4).[0m ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749637 ms (missed cycles : 3). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749637 ms (missed cycles : 3).[0m ×2 + 8.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.592ms + 8.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.477ms + 8.85sINFOros2_control_nodeMuJoCo sim: 2.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332043 ms (missed cycles : 3). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332043 ms (missed cycles : 3).[0m ×2 + 9.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.636ms + 9.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.380ms + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077745 ms (missed cycles : 2). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077745 ms (missed cycles : 2).[0m ×2 + 10.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.175ms + 10.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.970ms + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039856 ms (missed cycles : 2). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039856 ms (missed cycles : 2).[0m ×2 + 11.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.863ms + 11.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.625ms + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839076 ms (missed cycles : 4). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839076 ms (missed cycles : 4).[0m ×2 + 12.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.940ms + 12.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.824ms + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235086 ms (missed cycles : 3). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235086 ms (missed cycles : 3).[0m ×2 + 13.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.298ms + 13.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.638ms + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745073 ms (missed cycles : 2). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745073 ms (missed cycles : 2).[0m ×2 + 14.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.840ms + 14.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.836ms + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287018 ms (missed cycles : 4). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287018 ms (missed cycles : 4).[0m ×2 + 15.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.860ms + 15.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.819ms + 16.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.512ms + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832987 ms (missed cycles : 3). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832987 ms (missed cycles : 3).[0m ×2 + 16.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.432ms + 17.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.433ms + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894884 ms (missed cycles : 2). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894884 ms (missed cycles : 2).[0m ×2 + 17.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.980ms + 18.33sINFOamclParticle filter update iteration stats: 4146 particles 723 points - 6.578ms + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176543 ms (missed cycles : 2). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176543 ms (missed cycles : 2).[0m ×2 + 18.83sINFOamclParticle filter update iteration stats: 3430 particles 723 points - 5.647ms + 19.33sINFOamclParticle filter update iteration stats: 2491 particles 723 points - 4.663ms + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876247 ms (missed cycles : 3). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876247 ms (missed cycles : 3).[0m ×2 + 19.82sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 3.067ms + 20.32sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 2.162ms + 20.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580159 ms (missed cycles : 2). + 20.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580159 ms (missed cycles : 2).[0m ×2 + 20.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.233ms + 21.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 21.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735523 ms (missed cycles : 3). + 21.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735523 ms (missed cycles : 3).[0m ×2 + 21.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 22.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 22.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.790454 ms (missed cycles : 5). + 22.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.790454 ms (missed cycles : 5).[0m ×2 + 22.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 23.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 23.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352909 ms (missed cycles : 3). + 23.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352909 ms (missed cycles : 3).[0m ×2 + 23.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 24.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 24.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 24.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463648 ms (missed cycles : 4). + 24.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463648 ms (missed cycles : 4).[0m ×2 + 25.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 25.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 26.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711408 ms (missed cycles : 4). + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711408 ms (missed cycles : 4).[0m ×2 + 26.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.232ms + 26.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 27.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427505 ms (missed cycles : 3). + 27.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427505 ms (missed cycles : 3).[0m ×2 + 27.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 27.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 28.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048838 ms (missed cycles : 2). + 28.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 28.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048838 ms (missed cycles : 2).[0m ×2 + 28.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 29.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 29.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499495 ms (missed cycles : 4). + 29.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499495 ms (missed cycles : 4).[0m ×2 + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 30.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 30.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674417 ms (missed cycles : 3). + 30.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674417 ms (missed cycles : 3).[0m ×2 + 30.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.448ms + 31.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 31.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771889 ms (missed cycles : 3). + 31.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771889 ms (missed cycles : 3).[0m ×2 + 31.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.196ms + 32.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055277 ms (missed cycles : 4). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055277 ms (missed cycles : 4).[0m ×2 + 32.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 33.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426725 ms (missed cycles : 3). + 33.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426725 ms (missed cycles : 3).[0m ×2 + 33.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 34.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201275 ms (missed cycles : 3). + 34.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201275 ms (missed cycles : 3).[0m ×2 + 34.81sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 34.81sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310358 ms (missed cycles : 4). + 35.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310358 ms (missed cycles : 4).[0m ×2 + 36.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081473 ms (missed cycles : 2). + 36.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081473 ms (missed cycles : 2).[0m ×2 + 36.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 37.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119780 ms (missed cycles : 3). + 37.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119780 ms (missed cycles : 3).[0m ×2 + 38.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188721 ms (missed cycles : 3). + 38.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188721 ms (missed cycles : 3).[0m ×2 + 38.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 39.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617220 ms (missed cycles : 3). + 39.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617220 ms (missed cycles : 3).[0m ×2 + 40.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.084157 ms (missed cycles : 4). + 40.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.084157 ms (missed cycles : 4).[0m ×2 + 41.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.204ms + 41.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132002 ms (missed cycles : 3). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132002 ms (missed cycles : 3).[0m ×2 + 43.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979400 ms (missed cycles : 2). + 43.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979400 ms (missed cycles : 2).[0m ×2 + 44.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815497 ms (missed cycles : 4). + 44.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815497 ms (missed cycles : 4).[0m ×2 + 44.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms + 45.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162248 ms (missed cycles : 5). + 45.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162248 ms (missed cycles : 5).[0m ×2 + 46.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374537 ms (missed cycles : 3). + 46.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374537 ms (missed cycles : 3).[0m ×2 + 47.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145512 ms (missed cycles : 3). + 47.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145512 ms (missed cycles : 3).[0m ×2 + 48.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 48.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167490 ms (missed cycles : 4). + 48.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167490 ms (missed cycles : 4).[0m ×2 + 49.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384979 ms (missed cycles : 5). + 49.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384979 ms (missed cycles : 5).[0m ×2 + 50.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702401 ms (missed cycles : 3). + 50.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702401 ms (missed cycles : 3).[0m ×2 + 51.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.091985 ms (missed cycles : 4). + 51.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.091985 ms (missed cycles : 4).[0m ×2 + 51.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 52.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874806 ms (missed cycles : 2). + 52.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874806 ms (missed cycles : 2).[0m ×2 + 53.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297976 ms (missed cycles : 4). + 53.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297976 ms (missed cycles : 4).[0m ×2 + 54.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043067 ms (missed cycles : 4). + 54.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043067 ms (missed cycles : 4).[0m ×2 + 55.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 55.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134047 ms (missed cycles : 5). + 55.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134047 ms (missed cycles : 5).[0m ×2 + 56.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620361 ms (missed cycles : 4). + 56.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620361 ms (missed cycles : 4).[0m ×2 + 58.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890699 ms (missed cycles : 3). + 58.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890699 ms (missed cycles : 3).[0m ×2 + 59.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744572 ms (missed cycles : 4). + 59.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744572 ms (missed cycles : 4).[0m ×2 + 59.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 60.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018717 ms (missed cycles : 5). + 60.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018717 ms (missed cycles : 5).[0m ×2 + 60.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786718909.25681019 seconds ×3 + 60.54sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.94) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.54sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.99) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.435ms + 61.00sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786718909.85279155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129857 ms (missed cycles : 3). + 61.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129857 ms (missed cycles : 3).[0m ×2 + 61.38sINFOobjective_server_nodeFound path in 0 iterations (4.23e-07 s). ×2 + 61.59sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583866 ms (missed cycles : 3). + 62.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583866 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	55.7s	186 warnings · 191 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568530 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568530 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843110 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843110 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593865 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593865 ms (missed cycles : 4).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631038 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631038 ms (missed cycles : 3).[0m ×2 + 3.92sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.92sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.96sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786718704.94005895 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.325ms + 4.11sWARNlocal_costmap.local_costmapSensor origin at (-1.30, 5.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.11sWARNlocal_costmap.local_costmapSensor origin at (-2.20, 5.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.563ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612185 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612185 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786718705.52532220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.95sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170303 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170303 ms (missed cycles : 2).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749948 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749948 ms (missed cycles : 3).[0m ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.02sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.02sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.02sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.03sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900796 ms (missed cycles : 3). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900796 ms (missed cycles : 3).[0m ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731391 ms (missed cycles : 3). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731391 ms (missed cycles : 3).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.713ms + 9.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.822ms + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409477 ms (missed cycles : 3). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409477 ms (missed cycles : 3).[0m ×2 + 9.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.425ms + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.128ms + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820495 ms (missed cycles : 2). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820495 ms (missed cycles : 2).[0m ×2 + 11.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.449ms + 11.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.359ms + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827212 ms (missed cycles : 2). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827212 ms (missed cycles : 2).[0m ×2 + 12.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.220ms + 12.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.889ms + 13.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.800ms + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847391 ms (missed cycles : 3). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847391 ms (missed cycles : 3).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.673ms + 14.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.549ms + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947977 ms (missed cycles : 4). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947977 ms (missed cycles : 4).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.479ms + 15.00sINFOamclParticle filter update iteration stats: 4663 particles 723 points - 5.594ms + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.368670 ms (missed cycles : 5). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.368670 ms (missed cycles : 5).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 3305 particles 723 points - 4.467ms + 15.99sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 3.161ms + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125639 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125639 ms (missed cycles : 2).[0m ×2 + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.771ms + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502660 ms (missed cycles : 4). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502660 ms (missed cycles : 4).[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.124ms + 18.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631058 ms (missed cycles : 3). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631058 ms (missed cycles : 3).[0m ×2 + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.215ms + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135513 ms (missed cycles : 3). + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135513 ms (missed cycles : 3).[0m ×2 + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.314ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 20.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096009 ms (missed cycles : 2). + 20.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096009 ms (missed cycles : 2).[0m ×2 + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 21.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249992 ms (missed cycles : 3). + 21.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249992 ms (missed cycles : 3).[0m ×2 + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809718 ms (missed cycles : 2). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809718 ms (missed cycles : 2).[0m ×2 + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 23.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948825 ms (missed cycles : 3). + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948825 ms (missed cycles : 3).[0m ×2 + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 24.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308807 ms (missed cycles : 3). + 24.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308807 ms (missed cycles : 3).[0m ×2 + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.252ms + 25.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855292 ms (missed cycles : 2). + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855292 ms (missed cycles : 2).[0m ×2 + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 26.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988165 ms (missed cycles : 3). + 26.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988165 ms (missed cycles : 3).[0m ×2 + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.174ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 27.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660108 ms (missed cycles : 4). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660108 ms (missed cycles : 4).[0m ×2 + 27.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 28.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584559 ms (missed cycles : 4). + 28.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584559 ms (missed cycles : 4).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 30.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186796 ms (missed cycles : 4). + 30.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186796 ms (missed cycles : 4).[0m ×2 + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.221ms + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192151 ms (missed cycles : 3). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192151 ms (missed cycles : 3).[0m ×2 + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 32.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625353 ms (missed cycles : 2). + 32.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625353 ms (missed cycles : 2).[0m ×2 + 32.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.259ms + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.112ms + 33.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004682 ms (missed cycles : 4). + 33.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004682 ms (missed cycles : 4).[0m ×2 + 33.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 34.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193524 ms (missed cycles : 3). + 34.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193524 ms (missed cycles : 3).[0m ×2 + 35.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769602 ms (missed cycles : 2). + 35.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769602 ms (missed cycles : 2).[0m ×2 + 36.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5). + 36.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312289 ms (missed cycles : 5).[0m ×2 + 36.71sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 37.42sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503484 ms (missed cycles : 2). + 37.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503484 ms (missed cycles : 2).[0m ×2 + 38.20sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 38.20sINFOobjective_server_nodePlanning for 50 path waypoints. ×3 + 38.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002234 ms (missed cycles : 4). + 38.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002234 ms (missed cycles : 4).[0m ×2 + 39.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048698 ms (missed cycles : 4). + 39.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048698 ms (missed cycles : 4).[0m ×2 + 39.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.834ms + 40.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 40.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472638 ms (missed cycles : 3). + 40.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472638 ms (missed cycles : 3).[0m ×2 + 41.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 41.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 41.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648177 ms (missed cycles : 3). + 41.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648177 ms (missed cycles : 3).[0m ×2 + 42.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 42.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 42.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871993 ms (missed cycles : 2). + 42.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871993 ms (missed cycles : 2).[0m ×2 + 43.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 43.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 43.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155567 ms (missed cycles : 2). + 43.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155567 ms (missed cycles : 2).[0m ×2 + 44.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088366 ms (missed cycles : 4). + 44.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088366 ms (missed cycles : 4).[0m ×2 + 45.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.494780 ms (missed cycles : 4). + 45.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.494780 ms (missed cycles : 4).[0m ×2 + 47.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130023 ms (missed cycles : 2). + 47.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130023 ms (missed cycles : 2).[0m ×2 + 47.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 47.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 48.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470191 ms (missed cycles : 4). + 48.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470191 ms (missed cycles : 4).[0m ×2 + 48.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 49.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570608 ms (missed cycles : 4). + 49.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570608 ms (missed cycles : 4).[0m ×2 + 49.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 50.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 50.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276604 ms (missed cycles : 3). + 50.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276604 ms (missed cycles : 3).[0m ×2 + 50.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 51.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 51.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746715 ms (missed cycles : 4). + 51.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746715 ms (missed cycles : 4).[0m ×2 + 52.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 52.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678004 ms (missed cycles : 3). + 52.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678004 ms (missed cycles : 3).[0m ×2 + 53.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 53.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576910 ms (missed cycles : 4). + 53.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576910 ms (missed cycles : 4).[0m ×2 + 54.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674295 ms (missed cycles : 3). + 54.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674295 ms (missed cycles : 3).[0m ×2 + 54.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.108ms + 55.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 55.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421669 ms (missed cycles : 3). + 55.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421669 ms (missed cycles : 3).[0m ×2 + 56.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948400 ms (missed cycles : 3). + 56.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948400 ms (missed cycles : 3).[0m ×2 + 56.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 57.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491820 ms (missed cycles : 3). + 57.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491820 ms (missed cycles : 3).[0m ×2 + 58.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 58.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429776 ms (missed cycles : 2). + 58.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429776 ms (missed cycles : 2).[0m ×2 + 59.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786718760.60548258 seconds ×3 + 59.71sWARNlocal_costmap.local_costmapSensor origin at (-1.89, 10.86) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 59.71sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 11.42) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 59.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.840ms + 59.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997619 ms (missed cycles : 2). + 59.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997619 ms (missed cycles : 2).[0m ×2 + 60.21sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786718761.18986678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.62sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 60.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560639 ms (missed cycles : 3). + 60.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560639 ms (missed cycles : 3).[0m ×2 + 62.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291987 ms (missed cycles : 3). + 62.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291987 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	147 warnings · 264 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.75sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 5.41sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.76sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.76sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.76sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681091 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681091 ms (missed cycles : 3).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726796 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726796 ms (missed cycles : 2).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502361 ms (missed cycles : 3). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502361 ms (missed cycles : 3).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587130 ms (missed cycles : 3). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587130 ms (missed cycles : 3).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533391 ms (missed cycles : 4). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533391 ms (missed cycles : 4).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341490 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341490 ms (missed cycles : 3).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133029 ms (missed cycles : 3). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133029 ms (missed cycles : 3).[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380617 ms (missed cycles : 3). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380617 ms (missed cycles : 3).[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609900 ms (missed cycles : 3). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609900 ms (missed cycles : 3).[0m ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988857 ms (missed cycles : 3). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988857 ms (missed cycles : 3).[0m ×2 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314494 ms (missed cycles : 4). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314494 ms (missed cycles : 4).[0m ×2 + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832755 ms (missed cycles : 2). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832755 ms (missed cycles : 2).[0m ×2 + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164824 ms (missed cycles : 2). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164824 ms (missed cycles : 2).[0m ×2 + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898899 ms (missed cycles : 2). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898899 ms (missed cycles : 2).[0m ×2 + 20.36sINFOamclParticle filter update iteration stats: 1830 particles 723 points - 2.141ms + 21.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082025 ms (missed cycles : 4). + 21.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082025 ms (missed cycles : 4).[0m ×2 + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245546 ms (missed cycles : 4). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245546 ms (missed cycles : 4).[0m ×2 + 23.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832648 ms (missed cycles : 3). + 23.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832648 ms (missed cycles : 3).[0m ×2 + 24.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052814 ms (missed cycles : 2). + 24.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052814 ms (missed cycles : 2).[0m ×2 + 25.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616825 ms (missed cycles : 2). + 25.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616825 ms (missed cycles : 2).[0m ×2 + 26.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840495 ms (missed cycles : 2). + 26.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840495 ms (missed cycles : 2).[0m ×2 + 27.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214909 ms (missed cycles : 3). + 27.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214909 ms (missed cycles : 3).[0m ×2 + 28.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540758 ms (missed cycles : 2). + 28.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540758 ms (missed cycles : 2).[0m ×2 + 29.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019309 ms (missed cycles : 2). + 29.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019309 ms (missed cycles : 2).[0m ×2 + 30.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927879 ms (missed cycles : 2). + 30.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927879 ms (missed cycles : 2).[0m ×2 + 31.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104862 ms (missed cycles : 3). + 31.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104862 ms (missed cycles : 3).[0m ×2 + 32.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337608 ms (missed cycles : 3). + 32.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337608 ms (missed cycles : 3).[0m ×2 + 33.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673470 ms (missed cycles : 2). + 33.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673470 ms (missed cycles : 2).[0m ×2 + 34.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861369 ms (missed cycles : 3). + 34.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861369 ms (missed cycles : 3).[0m ×2 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063900 ms (missed cycles : 2). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063900 ms (missed cycles : 2).[0m ×2 + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031796 ms (missed cycles : 2). + 37.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031796 ms (missed cycles : 2).[0m ×2 + 38.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884684 ms (missed cycles : 2). + 38.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884684 ms (missed cycles : 2).[0m ×2 + 39.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024547 ms (missed cycles : 3). + 39.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024547 ms (missed cycles : 3).[0m ×2 + 40.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538382 ms (missed cycles : 3). + 40.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538382 ms (missed cycles : 3).[0m ×2 + 41.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623320 ms (missed cycles : 3). + 41.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623320 ms (missed cycles : 3).[0m ×2 + 42.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823341 ms (missed cycles : 3). + 42.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823341 ms (missed cycles : 3).[0m ×2 + 43.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729567 ms (missed cycles : 3). + 43.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729567 ms (missed cycles : 3).[0m ×2 + 44.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2). + 44.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2).[0m ×2 + 45.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203735 ms (missed cycles : 3). + 45.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203735 ms (missed cycles : 3).[0m ×2 + 46.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329039 ms (missed cycles : 2). + 46.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329039 ms (missed cycles : 2).[0m ×2 + 47.27sINFOjoint_trajectory_controllerGoal reached, success! + 47.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786718605.63840365 seconds ×3 + 47.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742227 ms (missed cycles : 3). + 47.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742227 ms (missed cycles : 3).[0m ×2 + 47.56sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 1.909ms + 47.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786718606.22836733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070297 ms (missed cycles : 3). + 48.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070297 ms (missed cycles : 3).[0m ×2 + 49.13sINFOobjective_server_nodeFound path in 0 iterations (2.4021e-05 s). ×2 + 49.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346859 ms (missed cycles : 4). + 49.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346859 ms (missed cycles : 4).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.5s	109 warnings · 147 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059024 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059024 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619812 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619812 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145278 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145278 ms (missed cycles : 3).[0m ×2 + 2.27sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.27sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.31sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786718672.46210837 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108277 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108277 ms (missed cycles : 2).[0m ×2 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.89sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786718674.03992295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230169 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230169 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066301 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066301 ms (missed cycles : 2).[0m ×2 + 6.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749772 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749772 ms (missed cycles : 2).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522566 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522566 ms (missed cycles : 3).[0m ×2 + 7.54sINFOros2_control_nodeMuJoCo sim: 1.15% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 8.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.618ms + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553965 ms (missed cycles : 3). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553965 ms (missed cycles : 3).[0m ×2 + 8.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.632ms + 9.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.210ms + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334772 ms (missed cycles : 3). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334772 ms (missed cycles : 3).[0m ×2 + 9.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.420ms + 10.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.795ms + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789514 ms (missed cycles : 3). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789514 ms (missed cycles : 3).[0m ×2 + 10.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.336ms + 11.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.566ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994194 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994194 ms (missed cycles : 3).[0m ×2 + 11.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.233ms + 12.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.188ms + 12.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.417ms + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598539 ms (missed cycles : 4). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598539 ms (missed cycles : 4).[0m ×2 + 13.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.344ms + 13.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.390ms + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553924 ms (missed cycles : 3). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553924 ms (missed cycles : 3).[0m ×2 + 14.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.298ms + 14.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.196ms + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480075 ms (missed cycles : 3). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480075 ms (missed cycles : 3).[0m ×2 + 15.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.817ms + 15.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.615ms + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736865 ms (missed cycles : 5). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736865 ms (missed cycles : 5).[0m ×2 + 16.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.541ms + 16.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.929ms + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178404 ms (missed cycles : 3). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178404 ms (missed cycles : 3).[0m ×2 + 17.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.945ms + 17.83sINFOamclParticle filter update iteration stats: 4952 particles 723 points - 6.453ms + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489458 ms (missed cycles : 2). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489458 ms (missed cycles : 2).[0m ×2 + 18.34sINFOamclParticle filter update iteration stats: 4528 particles 723 points - 7.964ms + 18.83sINFOamclParticle filter update iteration stats: 3367 particles 723 points - 5.096ms + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858978 ms (missed cycles : 3). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858978 ms (missed cycles : 3).[0m ×2 + 19.33sINFOamclParticle filter update iteration stats: 2627 particles 723 points - 4.660ms + 19.82sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 3.118ms + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.121759 ms (missed cycles : 5). + 20.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.121759 ms (missed cycles : 5).[0m ×2 + 20.33sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 2.133ms + 20.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892474 ms (missed cycles : 3). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892474 ms (missed cycles : 3).[0m ×2 + 21.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 21.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 22.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.208ms + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500631 ms (missed cycles : 3). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500631 ms (missed cycles : 3).[0m ×2 + 22.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 23.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.187361 ms (missed cycles : 5). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.187361 ms (missed cycles : 5).[0m ×2 + 23.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.272ms + 24.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.321ms + 24.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910904 ms (missed cycles : 3). + 24.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910904 ms (missed cycles : 3).[0m ×2 + 24.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 25.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126098 ms (missed cycles : 5). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126098 ms (missed cycles : 5).[0m ×2 + 25.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 26.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.135ms + 26.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866358 ms (missed cycles : 3). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866358 ms (missed cycles : 3).[0m ×2 + 26.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.153ms + 27.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.315ms + 27.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894346 ms (missed cycles : 4). + 27.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894346 ms (missed cycles : 4).[0m ×2 + 27.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 28.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 28.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.177ms + 28.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686367 ms (missed cycles : 4). + 28.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686367 ms (missed cycles : 4).[0m ×2 + 29.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.188ms + 29.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862451 ms (missed cycles : 5). + 29.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862451 ms (missed cycles : 5).[0m ×2 + 30.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 30.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 30.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568530 ms (missed cycles : 2). + 30.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568530 ms (missed cycles : 2).[0m ×2 + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 31.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843110 ms (missed cycles : 3). + 31.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843110 ms (missed cycles : 3).[0m ×2 + 32.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 32.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 33.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593865 ms (missed cycles : 4). + 33.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593865 ms (missed cycles : 4).[0m ×2 + 33.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 34.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631038 ms (missed cycles : 3). + 34.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631038 ms (missed cycles : 3).[0m ×2 + 34.79sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786718704.94005895 seconds ×3 + 34.85sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.85sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.325ms + 34.95sWARNlocal_costmap.local_costmapSensor origin at (-1.30, 5.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.95sWARNlocal_costmap.local_costmapSensor origin at (-2.20, 5.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 35.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.563ms + 35.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612185 ms (missed cycles : 3). + 35.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612185 ms (missed cycles : 3).[0m ×2 + 35.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786718705.52532220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.78sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 36.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170303 ms (missed cycles : 2). + 36.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170303 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	15.1s	62 warnings · 185 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620361 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620361 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890699 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890699 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744572 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744572 ms (missed cycles : 4).[0m ×2 + 2.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018717 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018717 ms (missed cycles : 5).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.39sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.41sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786718909.25681019 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.94) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.99) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.435ms + 4.01sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786718909.85279155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129857 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129857 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (4.23e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.63sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.63sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.63sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583866 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583866 ms (missed cycles : 3).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165269 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165269 ms (missed cycles : 3).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818905 ms (missed cycles : 3). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818905 ms (missed cycles : 3).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359139 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359139 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193613 ms (missed cycles : 3). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193613 ms (missed cycles : 3).[0m ×2 + 10.35sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 10.39sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.42sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 10.46sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.50sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 10.56sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.60sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 10.67sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.72sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567330 ms (missed cycles : 3). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567330 ms (missed cycles : 3).[0m ×2 + 10.90sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.94sINFOobjective_server_nodeFound path in 0 iterations (4.91e-07 s). ×2 + 11.29sINFOobjective_server_nodeFound path in 146 iterations (0.117301 s). ×2 + 11.80sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_____X] ×2 + 11.86sINFOros2_control_nodeMuJoCo sim: 2.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 11.86sINFOobjective_server_nodeFound path in 0 iterations (9.61e-07 s). ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621755 ms (missed cycles : 3). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621755 ms (missed cycles : 3).[0m ×2 + 12.28sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.51sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646307 ms (missed cycles : 2). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646307 ms (missed cycles : 2).[0m ×2 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002818 ms (missed cycles : 2). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002818 ms (missed cycles : 2).[0m ×2 + 14.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.989ms + 15.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.380ms + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734759 ms (missed cycles : 2). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734759 ms (missed cycles : 2).[0m ×2 + 15.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.152ms + 16.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.462ms + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772550 ms (missed cycles : 3). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772550 ms (missed cycles : 3).[0m ×2 + 16.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.116ms + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455453 ms (missed cycles : 3). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455453 ms (missed cycles : 3).[0m ×2 + 17.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.581ms + 18.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868156 ms (missed cycles : 3). + 18.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868156 ms (missed cycles : 3).[0m ×2 + 18.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786718924.34750247 seconds ×3 + 18.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.562ms + 19.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786718924.97189951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.15sINFOmove_groupClearing octomap...[0m ×2 + 19.15sINFOmove_groupOctomap cleared.[0m ×2 + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182962 ms (missed cycles : 2). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182962 ms (missed cycles : 2).[0m ×2 + 19.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786718925.56203604 seconds ×3 + 20.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786718926.15054440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988592 ms (missed cycles : 3). + 20.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988592 ms (missed cycles : 3).[0m ×2 + 20.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786718926.69068241 seconds ×3 + 21.08sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.7s	94 errors · 33 warnings · 432 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.152ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.462ms + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772550 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772550 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.116ms + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455453 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455453 ms (missed cycles : 3).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.581ms + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868156 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868156 ms (missed cycles : 3).[0m ×2 + 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: 1786718924.34750247 seconds ×3 + 2.87sINFOcontroller_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 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.562ms + 3.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786718924.97189951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.50sINFOmove_groupClearing octomap...[0m ×2 + 3.50sINFOmove_groupOctomap cleared.[0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182962 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182962 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786718925.56203604 seconds ×3 + 4.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786718926.15054440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988592 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988592 ms (missed cycles : 3).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786718926.69068241 seconds ×3 + 5.44sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993906 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993906 ms (missed cycles : 2).[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583803 ms (missed cycles : 2). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583803 ms (missed cycles : 2).[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197858 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197858 ms (missed cycles : 2).[0m ×2 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931672 ms (missed cycles : 2). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931672 ms (missed cycles : 2).[0m ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514556 ms (missed cycles : 3). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514556 ms (missed cycles : 3).[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127858 ms (missed cycles : 3). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127858 ms (missed cycles : 3).[0m ×2 + 11.40sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.45sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.45sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.47sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.47sERRORweb_video_auth_proxy-35process has died [pid 9569, 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 + 11.48sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.48sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.48sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.50sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.51sERRORweb_bridge_auth_proxy-34process has died [pid 9566, 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 + 11.51sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.52sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.52sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.52sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.53sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.54sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.54sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.55sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.55sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.56sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.59sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.61sINFOvideo_server-33process has finished cleanly [pid 9559] ×2 + 11.61sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.64sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.67sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.70sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.73sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.76sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.79sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.82sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.84sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9558] ×2 + 11.85sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.88sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.91sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.93sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.95sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.95sINFOcontroller_managerShutdown request received.... + 11.95sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.95sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.95sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.95sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.95sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.95sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.95sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.95sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.95sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.95sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.95sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.95sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.95sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.95sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.95sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.95sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.95sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.95sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.95sINFOcontroller_managerShutting down the controller manager. + 11.97sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1786718933.156 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.97sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1786718933.156 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.97sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.98sERRORmove_group-21process has died [pid 9527, 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_3rz54zgp --params-file /tmp/launch_params_zokc2j6s --params-file /tmp/launch_params_sz24e1k0 --params-file /tmp/launch_params_n17kzqc4 --params-file /tmp/launch_params_z17mmaxl --params-file /tmp/launch_params_rlstshxa']. ×2 + 11.98sINFOui_teleop_bridge-30process has finished cleanly [pid 9555] ×2 + 11.99sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 12.00sINFOcomponent_container_mt-28process has finished cleanly [pid 9553] ×2 + 12.02sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 12.05sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 12.05sINFOexecute_objective_bridge-29process has finished cleanly [pid 9554] ×2 + 12.09sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 12.12sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.14sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.14sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.14sINFOmap_serverDeactivating + 12.14sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.15sINFOmap_serverCleaning up + 12.15sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.15sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.16sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.16sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.16sINFOcontroller_serverDeactivating + 12.16sINFOlocal_costmap.local_costmapDeactivating + 12.16sINFOvideo_server2026/08/14 14:48:53 INF shutting down gracefully ×2 + 12.16sINFOvideo_server2026/08/14 14:48:53 INF [WebRTC] closing ×2 + 12.16sINFOvideo_server2026/08/14 14:48:53 INF [RTSP] closing ×2 + 12.16sINFOvideo_server2026/08/14 14:48:53 INF waiting for running hooks ×2 + 12.16sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.16sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.17sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.17sERRORamclThe bond connection to the lifecycle manager has been broken + 12.17sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.17sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.17sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.17sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.17sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.17sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.17sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.17sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.17sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.17sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.17sERRORmove_groupStack trace (most recent call last) in thread 10151: ×2 + 12.17sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.17sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faf60455b63, in __clone ×2 + 12.17sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faf603c8b83, in ×2 + 12.17sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faf6065adb3, in ×2 + 12.17sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7faf60dcb637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.17sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7faf609ec620, in rclcpp::Rate::sleep() ×2 + 12.17sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7faf6092ed18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.17sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7faf608f0087, in ×2 + 12.18sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faf60629390, in __cxa_throw ×2 + 12.18sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faf60613a54, in std::terminate() ×2 + 12.18sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faf606290d9, in ×2 + 12.18sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faf60613ff4, in ×2 + 12.18sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faf603548fe, in abort ×2 + 12.18sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faf6037127d, in raise ×2 + 12.18sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faf603cac0c, in pthread_kill ×2 + 12.18sERRORmove_groupAborted (Signal sent by tkill() 9527 0) ×2 + 12.18sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.18sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.18sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.18sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.18sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.18sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.18sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.18sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.18sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.18sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.18sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.18sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.18sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.18sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.18sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.18sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.18sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.18sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.18sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.18sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.18sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.18sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.18sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.18sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.18sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.18sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.18sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.18sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.19sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.19sINFOodom_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 + 12.19sINFOodom_qos_relay.pymain() ×2 + 12.19sINFOodom_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 + 12.19sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.19sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.19sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.19sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.19sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.19sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.19sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.19sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.19sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.19sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.19sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.19sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.19sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.19sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.19sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.19sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.19sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 12.20sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.21sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.22sINFOcontroller_serverCleaning up + 12.22sINFOlocal_costmap.local_costmapCleaning up + 12.26sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.26sINFOsmoother_serverDeactivating + 12.26sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.27sINFOsmoother_serverCleaning up + 12.29sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.29sINFOplanner_serverDeactivating + 12.29sINFOglobal_costmap.global_costmapDeactivating + 12.34sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.34sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.34sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.34sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.34sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.34sINFOvelocity_smootherDeactivating + 12.34sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.45sERRORcomponent_container_isolated-2process has died [pid 9428, 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_8tvtc2rn --params-file /tmp/launch_params_52bx2m1l -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.45sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.45sINFOwaypoint_followerDeactivating + 12.45sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.56sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.56sINFObt_navigatorDeactivating + 12.56sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.68sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.68sINFObehavior_serverDeactivating + 12.68sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.79sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.79sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.79sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.79sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.79sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.79sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.79sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.79sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.79sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.79sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.79sINFOvelocity_smootherCleaning up + 12.80sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.80sINFOwaypoint_followerCleaning up + 12.83sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.83sINFObt_navigatorCleaning up + 12.84sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.84sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.85sINFOplanner_serverCleaning up + 12.85sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9550] ×2 + 12.86sINFOglobal_costmap.global_costmapCleaning up + 12.87sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.87sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.88sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9549] ×2 + 12.91sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.91sINFObehavior_serverCleaning up + 12.91sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.91sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.91sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.91sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.92sINFOobjective_server_node[2026-08-14 14:48:54.401] [moveit_pro_license] [critical] ×2 + 12.92sINFOobjective_server_node************************************************* ×4 + 12.92sINFOobjective_server_node* MoveIt Pro License ×2 + 12.92sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.95sINFOwaypoint_manager_node-23process has finished cleanly [pid 9529] ×2 + 12.95sINFOparameter_manager_node-22process has finished cleanly [pid 9528] ×2 + 12.95sINFOcomponent_container_mt-27process has finished cleanly [pid 9552] ×2 + 12.98sINFOobjective_server_node_main-26process has finished cleanly [pid 9551] ×2 + 12.98sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 13.00sINFObt_navigatorCompleted Cleaning up + 13.00sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 13.02sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9434] ×2 + 13.04sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9433] ×2 + 13.06sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.06sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 13.06sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.06sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 13.06sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.06sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 13.06sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.06sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 13.13sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9432] ×2 + 13.13sINFOstatic_transform_publisher-4process has finished cleanly [pid 9430] ×2 + 13.15sINFOstatic_transform_publisher-3process has finished cleanly [pid 9429] ×2 + 13.16sERRORodom_qos_relay.py-5process has died [pid 9431, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.33sERRORcomponent_container_isolated-1process has died [pid 9427, 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_8tvtc2rn --params-file /tmp/launch_params_4n_mvw58 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.58sINFOweb_bridge-31process has finished cleanly [pid 9556] ×2 + 14.58sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.68sINFOros2_control_node-9process has finished cleanly [pid 9435] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.8s	3 errors · 55 warnings · 113 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421669 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421669 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948400 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948400 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491820 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491820 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429776 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429776 ms (missed cycles : 2).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.13sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786718760.60548258 seconds ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.22sWARNlocal_costmap.local_costmapSensor origin at (-1.89, 10.86) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.22sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 11.42) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.840ms + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997619 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997619 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786718761.18986678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560639 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560639 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291987 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291987 ms (missed cycles : 3).[0m ×2 + 7.31sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 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 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942951 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942951 ms (missed cycles : 3).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277294 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277294 ms (missed cycles : 2).[0m ×2 + 9.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.391ms + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310493 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310493 ms (missed cycles : 2).[0m ×2 + 9.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.455ms + 10.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.251ms + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672631 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672631 ms (missed cycles : 2).[0m ×2 + 10.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.450ms + 11.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.970ms + 11.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.948ms + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657656 ms (missed cycles : 3). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657656 ms (missed cycles : 3).[0m ×2 + 12.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.499ms + 12.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.220ms + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690917 ms (missed cycles : 3). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690917 ms (missed cycles : 3).[0m ×2 + 13.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.080ms + 13.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.257ms + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699834 ms (missed cycles : 3). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699834 ms (missed cycles : 3).[0m ×2 + 14.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.974ms + 14.81sINFOamclParticle filter update iteration stats: 4384 particles 723 points - 7.753ms + 14.97sINFOobjective_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 + 14.97sINFOjoint_trajectory_controllerGot request to cancel goal + 14.97sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.97sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.98sERRORobjective_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: 1786718771.45873404 seconds ×3 + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.698158 ms (missed cycles : 5). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.698158 ms (missed cycles : 5).[0m ×2 + 15.02sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.09) is out of map bounds (-2.55, -2.50) to (2.43, 2.47). The costmap cannot raytrace for it. + 15.02sWARNlocal_costmap.local_costmapSensor origin at (-1.50, 3.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.47). The costmap cannot raytrace for it. + 15.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.453ms + 15.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.916ms + 15.57sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786718772.05172038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.97sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504276 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504276 ms (missed cycles : 2).[0m ×2 + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325196 ms (missed cycles : 3). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325196 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.3s	41 warnings · 94 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177603 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177603 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879705 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879705 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583948 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583948 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164263 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164263 ms (missed cycles : 3).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.30sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786718666.19870806 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.191ms + 3.92sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786718666.80197620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601261 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601261 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (8.38e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052211 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052211 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491959 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491959 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059024 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059024 ms (missed cycles : 3).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619812 ms (missed cycles : 3). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619812 ms (missed cycles : 3).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145278 ms (missed cycles : 3). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145278 ms (missed cycles : 3).[0m ×2 + 9.58sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786718672.46210837 seconds ×3 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108277 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108277 ms (missed cycles : 2).[0m ×2 + 11.16sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786718674.03992295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230169 ms (missed cycles : 2). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230169 ms (missed cycles : 2).[0m ×2 + 11.61sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066301 ms (missed cycles : 2). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066301 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	43 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361816 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361816 ms (missed cycles : 3).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250168 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250168 ms (missed cycles : 4).[0m ×2 + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293349 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293349 ms (missed cycles : 5).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325164 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325164 ms (missed cycles : 2).[0m ×2 + 4.20sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.20sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.679646 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.679646 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786718845.82188344 seconds ×3 + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.31sWARNlocal_costmap.local_costmapSensor origin at (-2.24, 13.99) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.31sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.54) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.524ms + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-0.70, 5.85) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-1.58, 5.65) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.550ms + 4.82sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786718846.40408444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044051 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044051 ms (missed cycles : 2).[0m ×2 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142958 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142958 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592250 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592250 ms (missed cycles : 3).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268635 ms (missed cycles : 4). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268635 ms (missed cycles : 4).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708956 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708956 ms (missed cycles : 2).[0m ×2 + 10.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786718852.24432802 seconds ×3 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373393 ms (missed cycles : 3). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373393 ms (missed cycles : 3).[0m ×2 + 11.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786718852.83667994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.68sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371352 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371352 ms (missed cycles : 3).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858836 ms (missed cycles : 3). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858836 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.5s	30 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729567 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203735 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203735 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329039 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329039 ms (missed cycles : 2).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.94sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786718605.63840365 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742227 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742227 ms (missed cycles : 3).[0m ×2 + 4.22sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 1.909ms + 4.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786718606.22836733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070297 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070297 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (2.4021e-05 s). ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346859 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346859 ms (missed cycles : 4).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894859 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894859 ms (missed cycles : 3).[0m ×2 + 7.52sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786718609.17849541 seconds ×3 + 8.11sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786718609.76858807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915512 ms (missed cycles : 2). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915512 ms (missed cycles : 2).[0m ×2 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371864 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371864 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	21 warnings · 81 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.989ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.380ms + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734759 ms (missed cycles : 2). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734759 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.152ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.462ms + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772550 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772550 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.116ms + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455453 ms (missed cycles : 3). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455453 ms (missed cycles : 3).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.581ms + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868156 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868156 ms (missed cycles : 3).[0m ×2 + 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: 1786718924.34750247 seconds ×3 + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.17sINFOros2_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 + 4.19sINFOros2_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 + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.562ms + 4.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786718924.97189951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.80sINFOmove_groupClearing octomap...[0m ×2 + 4.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182962 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182962 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786718925.56203604 seconds ×3 + 5.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786718926.15054440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988592 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988592 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786718926.69068241 seconds ×3 + 6.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993906 ms (missed cycles : 2). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993906 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685049 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685049 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	20 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177603 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177603 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879705 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879705 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583948 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583948 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164263 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164263 ms (missed cycles : 3).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786718666.19870806 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.191ms + 3.92sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786718666.80197620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601261 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601261 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (8.38e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052211 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052211 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	20 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177603 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177603 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879705 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879705 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583948 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583948 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164263 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164263 ms (missed cycles : 3).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786718666.19870806 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.191ms + 3.92sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786718666.80197620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601261 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601261 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (8.38e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052211 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052211 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	22 warnings · 50 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568530 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568530 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843110 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843110 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593865 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593865 ms (missed cycles : 4).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631038 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631038 ms (missed cycles : 3).[0m ×2 + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.96sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786718704.94005895 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.325ms + 4.11sWARNlocal_costmap.local_costmapSensor origin at (-1.30, 5.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.11sWARNlocal_costmap.local_costmapSensor origin at (-2.20, 5.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.563ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612185 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612185 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786718705.52532220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.95sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170303 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170303 ms (missed cycles : 2).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685049 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685049 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685049 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685049 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592250 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592250 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268635 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268635 ms (missed cycles : 4).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708956 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708956 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786718852.24432802 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373393 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373393 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786718852.83667994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371352 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371352 ms (missed cycles : 3).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858836 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858836 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 81 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.989ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.380ms + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734759 ms (missed cycles : 2). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734759 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.152ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.462ms + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772550 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772550 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.116ms + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455453 ms (missed cycles : 3). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455453 ms (missed cycles : 3).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.581ms + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868156 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868156 ms (missed cycles : 3).[0m ×2 + 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: 1786718924.34750247 seconds ×3 + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.17sINFOros2_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 + 4.19sINFOros2_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 + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.562ms + 4.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786718924.97189951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.80sINFOmove_groupClearing octomap...[0m ×2 + 4.80sINFOmove_groupOctomap cleared.[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182962 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182962 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786718925.56203604 seconds ×3 + 5.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786718926.15054440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988592 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988592 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786718926.69068241 seconds ×3 + 6.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	24 warnings · 212 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.75sINFOmove_groupClearing octomap...[0m ×2 + 1.75sINFOmove_groupOctomap cleared.[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 5.41sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.76sINFOjoint_trajectory_controllerReceived new action goal + 5.76sINFOjoint_trajectory_controllerAccepted new action goal + 5.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681091 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681091 ms (missed cycles : 3).[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 3.729567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729567 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203735 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203735 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329039 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329039 ms (missed cycles : 2).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786718605.63840365 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742227 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742227 ms (missed cycles : 3).[0m ×2 + 4.22sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 1.909ms + 4.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786718606.22836733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070297 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070297 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (2.4021e-05 s). ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346859 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346859 ms (missed cycles : 4).[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 3.729567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729567 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119411 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203735 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203735 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329039 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329039 ms (missed cycles : 2).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786718605.63840365 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742227 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742227 ms (missed cycles : 3).[0m ×2 + 4.22sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 1.909ms + 4.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786718606.22836733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070297 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070297 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (2.4021e-05 s). ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346859 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346859 ms (missed cycles : 4).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 93 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786718605.63840365 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742227 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742227 ms (missed cycles : 3).[0m ×2 + 0.29sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 1.909ms + 0.64sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786718606.22836733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070297 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070297 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeFound path in 0 iterations (2.4021e-05 s). ×2 + 1.86sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.88sINFOjoint_trajectory_controllerReceived new action goal + 1.88sINFOjoint_trajectory_controllerAccepted new action goal + 1.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346859 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346859 ms (missed cycles : 4).[0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894859 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894859 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786718609.17849541 seconds ×3 + 4.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786718609.76858807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915512 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915512 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371864 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371864 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	20 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177603 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177603 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879705 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879705 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583948 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583948 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164263 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164263 ms (missed cycles : 3).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786718666.19870806 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.191ms + 3.92sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786718666.80197620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601261 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601261 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (8.38e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052211 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052211 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	20 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177603 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177603 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879705 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879705 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583948 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583948 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164263 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164263 ms (missed cycles : 3).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786718666.19870806 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.191ms + 3.92sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786718666.80197620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601261 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601261 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (8.38e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052211 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052211 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	20 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177603 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177603 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879705 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879705 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583948 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583948 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164263 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164263 ms (missed cycles : 3).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786718666.19870806 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.42sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.191ms + 3.92sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786718666.80197620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601261 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601261 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (8.38e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052211 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052211 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	22 warnings · 50 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568530 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568530 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843110 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843110 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593865 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593865 ms (missed cycles : 4).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631038 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631038 ms (missed cycles : 3).[0m ×2 + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.96sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786718704.94005895 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.325ms + 4.11sWARNlocal_costmap.local_costmapSensor origin at (-1.30, 5.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.11sWARNlocal_costmap.local_costmapSensor origin at (-2.20, 5.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.563ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612185 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612185 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786718705.52532220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.95sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170303 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170303 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	22 warnings · 50 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568530 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568530 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843110 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843110 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593865 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593865 ms (missed cycles : 4).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631038 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631038 ms (missed cycles : 3).[0m ×2 + 3.92sINFOjoint_trajectory_controllerGoal reached, success! + 3.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.96sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786718704.94005895 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.325ms + 4.11sWARNlocal_costmap.local_costmapSensor origin at (-1.30, 5.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.11sWARNlocal_costmap.local_costmapSensor origin at (-2.20, 5.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.563ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612185 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612185 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786718705.52532220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.95sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170303 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170303 ms (missed cycles : 2).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592250 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592250 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268635 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268635 ms (missed cycles : 4).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708956 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708956 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786718852.24432802 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373393 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373393 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786718852.83667994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371352 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371352 ms (missed cycles : 3).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858836 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858836 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592250 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592250 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268635 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268635 ms (missed cycles : 4).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708956 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708956 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786718852.24432802 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373393 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373393 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786718852.83667994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371352 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371352 ms (missed cycles : 3).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858836 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858836 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592250 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592250 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268635 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268635 ms (missed cycles : 4).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708956 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708956 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786718852.24432802 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373393 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373393 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786718852.83667994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371352 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371352 ms (missed cycles : 3).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858836 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858836 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592250 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592250 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268635 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268635 ms (missed cycles : 4).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708956 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708956 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786718852.24432802 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373393 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373393 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786718852.83667994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371352 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371352 ms (missed cycles : 3).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858836 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858836 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592250 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592250 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268635 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268635 ms (missed cycles : 4).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708956 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708956 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786718852.24432802 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373393 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373393 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786718852.83667994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371352 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371352 ms (missed cycles : 3).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858836 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858836 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	18 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592250 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592250 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268635 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268635 ms (missed cycles : 4).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708956 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708956 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786718852.24432802 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373393 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373393 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786718852.83667994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371352 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371352 ms (missed cycles : 3).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858836 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858836 ms (missed cycles : 3).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	24 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2

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

7 skip

− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	24 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ 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 3.685049 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685049 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_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 3.685049 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685049 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	addtovector.xml	0.0s	18 warnings · 187 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685049 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685049 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685049 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685049 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685049 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685049 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685049 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685049 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	teleoperate.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2

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

10 skip

− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	27 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681091 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681091 ms (missed cycles : 3).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	24 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 skip

− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 2.902651 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902651 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo sim: 3.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541961 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325199 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718560.06001496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718560.07023072 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731805 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718560.66364169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718560.67377090 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718561.25231504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021115 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718561.40289426 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718562.02292204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718562.07306385 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885655 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786718562.64881039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382389 ms (missed cycles : 3).[0m ×2 + 6.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2