MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.7s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	32.3s	12 errors · 307 warnings · 1409 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/2026-08-19-12-03-54-474579-2b85f3cd7dd6-9426 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.82sINFOstatic_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' + 13.82sINFOstatic_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' + 13.93sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.96sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.97sINFOcontroller_managerupdate rate is 600 Hz + 13.97sINFOcontroller_managerOverruns handling is : enabled + 13.97sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.98sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 14.07sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.09sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.10sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.11sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.15sINFOcontroller_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. + 14.16sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.16sINFOros2_control_node-9process started with pid [9484] ×2 + 14.17sINFOmove_group-21process started with pid [9573] ×2 + 14.17sINFOparameter_manager_node-22process started with pid [9574] ×2 + 14.17sINFOwaypoint_manager_node-23process started with pid [9575] ×2 + 14.17sINFOmove_joint_resampler_node-24process started with pid [9594] ×2 + 14.17sINFOmove_end_effector_resampler_node-25process started with pid [9595] ×2 + 14.17sINFOobjective_server_node_main-26process started with pid [9596] ×2 + 14.17sINFOcomponent_container_mt-27process started with pid [9597] ×2 + 14.17sINFOcomponent_container_mt-28process started with pid [9598] ×2 + 14.17sINFOexecute_objective_bridge-29process started with pid [9599] ×2 + 14.17sINFOui_teleop_bridge-30process started with pid [9600] ×2 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015900 ms (missed cycles : 5). + 14.18sINFOweb_bridge-31process started with pid [9601] ×2 + 14.18sINFOtf2_web_republisher_node-32process started with pid [9603] ×2 + 14.18sINFOvideo_server-33process started with pid [9605] ×2 + 14.18sINFOweb_bridge_auth_proxy-34process started with pid [9606] ×2 + 14.18sINFOweb_video_auth_proxy-35process started with pid [9607] ×2 + 14.18sINFOcomponent_container_isolated-1process started with pid [9476] ×2 + 14.19sINFOcomponent_container_isolated-2process started with pid [9477] ×2 + 14.19sINFOstatic_transform_publisher-3process started with pid [9478] ×2 + 14.19sINFOstatic_transform_publisher-4process started with pid [9479] ×2 + 14.19sINFOodom_qos_relay.py-5process started with pid [9480] ×2 + 14.19sINFOforward_stereo_publisher.py-6process started with pid [9481] ×2 + 14.19sINFOscan_to_scan_filter_chain-7process started with pid [9482] ×2 + 14.19sINFOscan_to_scan_filter_chain-8process started with pid [9483] ×2 + 14.19sINFOros2-10process started with pid [9562] ×2 + 14.19sINFOros2-11process started with pid [9563] ×2 + 14.19sINFOros2-12process started with pid [9564] ×2 + 14.19sINFOros2-13process started with pid [9565] ×2 + 14.19sINFOros2-14process started with pid [9566] ×2 + 14.19sINFOros2-15process started with pid [9567] ×2 + 14.19sINFOros2-16process started with pid [9568] ×2 + 14.22sINFOros2-17process started with pid [9569] ×2 + 14.22sINFOros2-18process started with pid [9570] ×2 + 14.22sINFOros2-19process started with pid [9571] ×2 + 14.22sINFOros2-20process started with pid [9572] ×2 + 14.23sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.23sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.23sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.23sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.25sINFOcontroller_serverCreating controller server + 14.29sINFOlocal_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. + 14.30sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.30sINFOmap_serverCreating + 14.30sINFOlocal_costmap.local_costmapCreating Costmap + 14.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.31sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.32sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.38sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.40sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.40sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.40sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.41sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.41sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.41sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.41sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.41sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.41sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.41sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.41sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.41sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.41sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.41sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.41sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.41sWARNros2_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 + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015900 ms (missed cycles : 5).[0m ×2 + 14.42sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.42sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.44sINFOsmoother_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. + 14.44sINFOlifecycle_manager_localizationCreating + 14.44sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.45sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.45sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.47sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.47sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.48sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.48sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.48sINFOmap_serverConfiguring + 14.48sINFOsmoother_serverCreating smoother server + 14.50sINFOrobot_state_publisherRobot initialized + 14.50sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.51sINFOcontroller_managerReceived robot description from topic. + 14.51sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.51sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.51sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.52sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.52sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.54sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.54sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.56sINFOplanner_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. + 14.56sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.56sINFOamclConfiguring + 14.56sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.56sINFOmap_serverActivating + 14.57sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.57sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.58sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.58sINFOplanner_serverCreating + 14.61sINFOglobal_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. + 14.61sINFOglobal_costmap.global_costmapCreating Costmap + 14.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.63sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.63sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.63sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.64sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.64sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.65sINFObehavior_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. + 14.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.68sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.68sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.68sINFOamclActivating + 14.68sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.68sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.69sINFOamclSubscribed to map_topic: /map + 14.69sINFOamclSubscribed to scan_topic: /scan_merged + 14.69sINFOamclCreated reinitialize_global_localization service + 14.69sINFOamclCreated request_nomotion_update service + 14.70sINFOamclA new map was received + 14.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.70sINFOamclInitializing particle filter instance + 14.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.71sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.71sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.73sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.73sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.74sINFOvideo_server2026/08/19 12:04:12 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.75sINFOvideo_server2026/08/19 12:04:12 INF configuration loaded from /tmp/moveit-webrtc-sgkdfpni/mediamtx.yml ×2 + 14.75sINFOvideo_server2026/08/19 12:04:12 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.75sINFOvideo_server2026/08/19 12:04:12 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.76sINFObt_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. + 14.77sINFObt_navigatorCreating + 14.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.82sWARNlaser_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. + 14.82sWARNlaser_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. + 14.83sWARNscan_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 + 14.85sINFOwaypoint_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. + 14.86sINFOwaypoint_followerCreating + 14.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.89sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.89sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.89sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.284821 seconds + 14.89sINFOmove_groupLoaded robot model in 0.284821 seconds[0m ×2 + 14.90sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.90sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.90sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.90sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.93sINFOvelocity_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. + 14.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.95sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.99sINFOlifecycle_manager_navigationCreating + 15.00sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 15.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 15.02sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 15.02sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 15.02sINFOcontroller_serverConfiguring controller interface + 15.02sINFOcontroller_servergetting progress checker plugins.. + 15.02sINFOcontroller_servergetting goal checker plugins.. + 15.03sINFOcontroller_serverController frequency set to 20.0000Hz + 15.03sINFOlocal_costmap.local_costmapConfiguring + 15.04sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 15.06sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 15.09sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.09sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.11sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.14sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.14sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.14sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.14sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.15sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.17sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.18sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.18sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.19sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.19sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012354 ms (missed cycles : 2). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012354 ms (missed cycles : 2).[0m ×2 + 15.20sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.20sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.20sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.20sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.21sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.21sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.21sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.21sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.21sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.21sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.21sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.21sINFOcontroller_serverOptimizer reset ×2 + 15.22sINFOcontroller_serverController Server has FollowPath controllers available. + 15.23sINFOamclParticle filter initialization completed + 15.23sINFOamclInitializing particles from estimated pose and covariance + 15.23sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.24sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.24sINFOsmoother_serverConfiguring smoother server + 15.26sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.27sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.28sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.28sINFOplanner_serverConfiguring + 15.28sINFOglobal_costmap.global_costmapConfiguring + 15.29sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.29sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.29sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.29sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.29sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.30sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.30sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.31sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.34sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.35sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.35sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.36sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.39sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.39sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.40sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.40sINFOplanner_serverPlanner Server has GridBased planners available. + 15.42sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.42sINFObehavior_serverConfiguring + 15.44sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.44sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.45sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.45sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.46sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.48sINFObehavior_serverConfiguring spin + 15.50sINFObehavior_serverConfiguring backup + 15.51sINFObehavior_serverConfiguring drive_on_heading + 15.52sINFObehavior_serverConfiguring assisted_teleop + 15.55sINFObehavior_serverConfiguring wait + 15.56sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.56sINFObt_navigatorConfiguring + 15.58sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.61sWARNbt_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 + 15.62sINFOwaypoint_manager_nodeLoaded robot model in 0.295172 seconds[0m ×2 + 15.63sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.63sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.75sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.75sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.75sWARNmove_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. + 15.75sWARNmove_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. + 15.76sWARNmove_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 + 15.76sWARNmove_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 + 15.76sWARNmove_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. + 15.76sWARNmove_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. + 15.76sWARNmove_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 + 15.76sWARNmove_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. + 15.76sWARNmove_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. + 15.76sWARNmove_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. + 15.77sWARNmove_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. + 15.77sWARNmove_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. + 15.77sWARNmove_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. + 15.79sWARNmove_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 + 15.79sWARNmove_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 + 15.79sWARNmove_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 + 15.79sWARNmove_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 + 15.79sWARNmove_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 + 15.79sWARNmove_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 + 15.79sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.93sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 16.01sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 16.01sINFOwaypoint_followerConfiguring + 16.04sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.05sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.05sINFOvelocity_smootherConfiguring velocity smoother + 16.06sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.07sINFOcontroller_serverActivating + 16.07sINFOlocal_costmap.local_costmapActivating + 16.07sINFOlocal_costmap.local_costmapChecking transform + 16.07sINFOlocal_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. ×12 + 16.19sWARNwaypoint_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. + 16.19sWARNwaypoint_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 + 16.19sWARNwaypoint_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. + 16.20sWARNwaypoint_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. + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190430 ms (missed cycles : 2). + 16.20sWARNwaypoint_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. + 16.20sWARNwaypoint_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. + 16.20sWARNwaypoint_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. + 16.20sWARNwaypoint_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. + 16.20sWARNwaypoint_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. + 16.21sWARNwaypoint_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. + 16.21sWARNwaypoint_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. + 16.21sWARNwaypoint_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 + 16.21sWARNwaypoint_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. + 16.21sWARNwaypoint_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. + 16.21sWARNwaypoint_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. + 16.21sWARNwaypoint_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. + 16.21sWARNwaypoint_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 + 16.22sWARNwaypoint_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. + 16.22sWARNwaypoint_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. + 16.22sWARNwaypoint_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 + 16.22sWARNwaypoint_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 + 16.22sWARNwaypoint_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. + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190430 ms (missed cycles : 2).[0m ×2 + 16.22sWARNwaypoint_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. + 16.22sWARNwaypoint_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 + 16.22sWARNwaypoint_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 + 16.22sWARNwaypoint_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 + 16.23sWARNwaypoint_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 + 16.23sWARNwaypoint_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 + 16.23sWARNwaypoint_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 + 16.23sWARNwaypoint_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 + 16.23sWARNwaypoint_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 + 16.23sWARNwaypoint_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 + 16.23sWARNwaypoint_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 + 16.23sWARNwaypoint_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 + 16.23sWARNwaypoint_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. + 16.23sWARNwaypoint_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. + 16.23sWARNwaypoint_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. + 16.23sWARNwaypoint_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. + 16.23sWARNwaypoint_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. + 16.23sWARNwaypoint_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. + 16.23sWARNwaypoint_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. + 16.23sWARNwaypoint_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. + 16.24sWARNwaypoint_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. + 16.24sWARNwaypoint_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. + 16.24sWARNwaypoint_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 + 16.25sWARNwaypoint_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 + 16.25sWARNwaypoint_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 + 16.25sWARNwaypoint_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 + 16.25sWARNwaypoint_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 + 16.25sWARNwaypoint_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 + 16.25sWARNwaypoint_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 + 16.25sWARNwaypoint_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 + 16.25sWARNwaypoint_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 + 16.25sWARNwaypoint_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 + 16.25sWARNwaypoint_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 + 16.25sWARNwaypoint_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 + 16.28sINFOmove_group[2026-08-19 12:04:14.164] [moveit_pro_license] [info] ×2 + 16.28sINFOmove_group************************************************* ×4 + 16.28sINFOmove_group* MoveIt Pro License ×2 + 16.28sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.56sINFOwaypoint_manager_node[2026-08-19 12:04:14.434] [moveit_pro_license] [info] ×2 + 16.56sINFOwaypoint_manager_node************************************************* ×4 + 16.56sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.56sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.75sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.75sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.75sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.76sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.78sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 16.79sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.81sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 16.82sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 16.96sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 16.96sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 16.97sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 16.97sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 16.97sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 16.97sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 16.97sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 16.97sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 16.97sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.97sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 16.97sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 16.97sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 16.98sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 16.98sINFOmove_groupStarting planning scene monitor[0m ×2 + 16.98sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 16.98sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 16.98sINFOmove_groupListening to '/planning_scene'[0m ×2 + 16.98sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 16.99sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 16.99sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 16.99sINFOmove_groupListening to 'collision_object'[0m ×2 + 16.99sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.07sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.07sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.08sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.60sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.60sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.60sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.60sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.61sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.61sWARNros2_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 + 17.61sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.61sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 17.61sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.61sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 17.61sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 17.61sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 17.61sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 17.61sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 17.61sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 17.61sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 17.61sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 17.61sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.61sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.61sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 17.61sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.61sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.61sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 17.61sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 17.61sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 17.61sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 17.61sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 17.61sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 17.61sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.61sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.61sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 17.61sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.61sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.61sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.61sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.61sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.61sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.61sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.61sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.61sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.61sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.61sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.61sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.61sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.61sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.61sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.61sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.61sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.64sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.64sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.64sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 17.79sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 17.79sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 17.79sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 17.79sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 17.84sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ + 17.84sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ [0m ×2 + 17.87sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 17.87sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 17.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 17.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 17.87sINFOforce_torque_sensor_broadcasterconfigure successful + 17.87sINFOros2_control_nodeconfigure successful[0m ×6 + 17.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 17.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 17.88sINFOcontroller_managerSuccessfully switched controllers! ×19 + 17.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 17.88sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 17.88sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 17.88sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.92sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.93sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 17.95sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 17.95sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891642 ms (missed cycles : 2). + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891642 ms (missed cycles : 2).[0m ×2 + 18.12sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.12sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.12sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.15sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 18.23sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.23sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 18.23sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.23sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 18.24sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ + 18.24sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ [0m ×2 + 18.25sINFOros2-10process has finished cleanly [pid 9562] ×2 + 18.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.28sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.28sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.28sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.30sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.30sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.30sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.30sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.30sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.30sINFOstreaming_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) + 18.30sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.31sINFOcomponent_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 + 18.31sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.31sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.31sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 18.32sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 18.32sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 18.32sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 18.32sINFOplatform_velocity_controllerconfigure successful + 18.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 18.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 18.33sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 18.33sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 18.47sINFOobjective_server_node[2026-08-19 12:04:16.355] [moveit_pro_license] [info] ×2 + 18.47sINFOobjective_server_node************************************************* ×4 + 18.47sINFOobjective_server_node* MoveIt Pro License ×2 + 18.47sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.49sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.49sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.49sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.51sINFOstreaming_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) + 18.51sINFOcomponent_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 + 18.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.54sINFOcomponent_container_mtLoaded robot model in 0.398729 seconds[0m ×2 + 18.54sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.54sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.57sINFOobjective_server_nodeLoaded robot model in 0.0329501 seconds[0m ×2 + 18.57sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.57sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.65sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.67sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 18.67sINFOcontroller_managerLoading controller 'vacuum_gripper' + 18.67sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 18.67sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 18.67sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ + 18.67sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ [0m ×2 + 18.69sINFOros2-13process has finished cleanly [pid 9565] ×2 + 18.69sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 18.69sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 18.73sINFOmove_groupMoveGroup debug mode is ON + 18.73sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 18.73sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.73sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 18.73sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 18.73sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 18.73sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 18.74sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 18.74sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 18.74sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 18.74sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 18.74sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 18.78sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.79sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.79sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.79sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.79sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.80sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.80sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.84sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787141055.610 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 18.85sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.91sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 18.91sINFOmove_group ×8 + 18.91sINFOmove_group****************************************************** ×4 + 18.91sINFOmove_group* MoveGroup using: ×2 + 18.91sINFOmove_group* - apply_planning_scene_service ×2 + 18.91sINFOmove_group* - clear_octomap_service ×2 + 18.91sINFOmove_group* - get_group_urdf ×2 + 18.91sINFOmove_group* - load_geometry_from_file ×2 + 18.91sINFOmove_group* - get_planning_scene_service ×2 + 18.91sINFOmove_group* - kinematics_service ×2 + 18.91sINFOmove_group* - save_geometry_to_file ×2 + 18.91sINFOmove_group* - GetPlanningGroups ×2 + 18.91sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.91sINFOmove_group[0m ×2 + 18.91sINFOmove_group[92mYou can start planning now![0m ×2 + 19.08sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 19.08sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 19.08sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.08sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.08sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.08sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 19.08sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.08sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 19.08sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.08sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.08sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.08sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.08sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.08sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.08sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.08sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.08sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.08sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.08sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.08sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.08sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.08sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.08sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.08sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.08sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.09sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.09sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.09sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.09sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.09sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.09sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.09sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.09sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.09sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.09sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.09sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.09sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.09sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.09sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.09sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.09sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.09sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.10sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.11sINFOros2-14process has finished cleanly [pid 9566] ×2 + 19.12sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 19.13sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 19.13sWARNobjective_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. + 19.13sWARNobjective_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. + 19.13sWARNobjective_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. + 19.13sWARNobjective_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. + 19.13sWARNobjective_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. + 19.13sWARNobjective_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. + 19.13sWARNobjective_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. + 19.13sWARNobjective_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. + 19.13sWARNobjective_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 + 19.13sWARNobjective_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 + 19.13sWARNobjective_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. + 19.13sWARNobjective_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 + 19.13sWARNobjective_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. + 19.13sWARNobjective_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 + 19.13sWARNobjective_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 + 19.13sWARNobjective_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 + 19.13sWARNobjective_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 + 19.13sWARNobjective_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 + 19.13sWARNobjective_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 + 19.13sWARNobjective_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 + 19.19sINFOobjective_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 + 19.19sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 19.21sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 19.21sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 19.21sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 19.21sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 19.21sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 19.21sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 19.21sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 19.23sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ + 19.23sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ [0m ×2 + 19.29sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 19.29sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 19.29sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 19.29sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601635 ms (missed cycles : 3). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601635 ms (missed cycles : 3).[0m ×2 + 19.31sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 19.31sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 19.48sWARNros2_control_nodeCamera render tick took 0.77 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 + 19.53sINFOcomponent_container_mt[2026-08-19 12:04:17.418] [moveit_pro_license] [info] ×2 + 19.53sINFOcomponent_container_mt************************************************* ×4 + 19.53sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.53sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.54sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 19.55sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.72sINFOros2_control_node[2026-08-19 12:04:17.605] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.72sINFOros2_control_node[2026-08-19 12:04:17.608] [info] Controller state will be published at 10 Hz. ×2 + 19.73sINFOros2_control_node[2026-08-19 12:04:17.609] [info] VelocityForceController 'on_configure' succeeded. ×2 + 19.90sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.90sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.91sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 20.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 20.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 20.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 20.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 20.09sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ + 20.09sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ [0m ×2 + 20.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.09sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.10sINFOros2-18process has finished cleanly [pid 9570] ×2 + 20.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 20.18sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 20.18sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 20.18sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 20.18sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 20.18sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 20.18sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 20.19sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 20.19sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 20.35sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923169 ms (missed cycles : 2). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923169 ms (missed cycles : 2).[0m ×2 + 20.50sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 20.50sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 20.50sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 20.50sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 20.52sINFOros2-11process has finished cleanly [pid 9563] ×2 + 20.60sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ + 20.60sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ [0m ×2 + 20.66sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 20.66sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 20.66sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 20.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 21.05sINFOros2_control_node[2026-08-19 12:04:18.934] [info] Controller state will be published at 20 Hz. ×2 + 21.05sINFOros2_control_node[2026-08-19 12:04:18.935] [info] JointVelocityController 'on_configure' succeeded. ×2 + 21.35sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787141058.110 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 21.40sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 21.40sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 21.40sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ + 21.40sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 21.40sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 21.40sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ [0m ×2 + 21.42sINFOros2-19process has finished cleanly [pid 9571] ×2 + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041653 ms (missed cycles : 3). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041653 ms (missed cycles : 3).[0m ×2 + 21.46sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 21.46sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 21.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 21.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 21.47sINFOplatform_velocity_controller_nav2configure successful + 21.52sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.90sINFOros2-15process has finished cleanly [pid 9567] ×2 + 21.90sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 21.90sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 21.90sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 21.90sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 21.90sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ + 21.90sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ [0m ×2 + 21.97sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 21.97sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 21.97sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 21.97sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 21.97sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 21.97sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 21.98sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 21.98sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 21.98sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 21.98sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 22.07sINFOlocal_costmap.local_costmapstart + 22.14sINFOamclParticle filter update iteration stats: 2135 particles 723 points - 3.567ms + 22.17sWARNcontroller_serverParameter controller_server.verbose not found + 22.17sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 22.17sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 22.28sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 22.28sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 22.28sINFOsmoother_serverActivating + 22.28sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 22.34sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 22.34sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 22.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 22.34sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 22.34sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ + 22.35sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ [0m ×2 + 22.39sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 22.39sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 22.39sINFOplanner_serverActivating + 22.39sINFOglobal_costmap.global_costmapActivating + 22.39sINFOglobal_costmap.global_costmapChecking transform + 22.39sINFOglobal_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 1787141060.270154 but the earliest data is at time 1787141060.910363, when looking up transform from frame [ridgeback_base_link] to frame [map] + 22.45sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 22.45sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 22.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 22.46sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 22.46sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 22.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 22.46sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 22.46sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 22.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 22.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052305 ms (missed cycles : 2). + 22.46sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 22.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 22.46sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 22.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 22.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052305 ms (missed cycles : 2).[0m ×2 + 22.47sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 22.47sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 22.70sINFOros2-12process has finished cleanly [pid 9564] ×2 + 22.84sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 22.84sINFOcontroller_managerLoading controller 'velocity_force_controller' + 22.84sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 22.84sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ + 22.84sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 22.84sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ [0m ×2 + 22.86sINFOros2-16process has finished cleanly [pid 9568] ×2 + 22.89sINFOglobal_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 1787141060.726825 but the earliest data is at time 1787141060.910363, when looking up transform from frame [ridgeback_base_link] to frame [map] + 22.91sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 22.91sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 22.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 22.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 23.35sINFOros2_control_node[2026-08-19 12:04:21.234] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 23.35sINFOros2_control_node[2026-08-19 12:04:21.236] [info] Controller state will be published at 10 Hz. ×2 + 23.35sINFOros2_control_node[2026-08-19 12:04:21.237] [info] VelocityForceController 'on_configure' succeeded. ×2 + 23.39sINFOglobal_costmap.global_costmapstart + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012869 ms (missed cycles : 2). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012869 ms (missed cycles : 2).[0m ×2 + 23.72sINFOros2-17process has finished cleanly [pid 9569] ×2 + 23.73sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 23.73sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 23.73sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ + 23.73sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 23.73sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 23.73sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8v0f1jt9 --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_0_u2v522 --params-file /tmp/launch_params_6abnfws_ [0m ×2 + 23.79sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 23.79sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 23.80sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 23.81sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 24.17sINFOros2_control_node[2026-08-19 12:04:22.051] [info] Controller state will be published at 20 Hz. ×2 + 24.17sINFOros2_control_node[2026-08-19 12:04:22.052] [info] JointVelocityController 'on_configure' succeeded. ×2 + 24.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 24.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 24.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 24.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 24.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 24.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 24.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.44sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 24.44sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 24.52sINFOros2-20process has finished cleanly [pid 9572] ×2 + 24.55sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 24.55sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 24.55sINFObehavior_serverActivating + 24.55sINFObehavior_serverActivating spin + 24.55sINFObehavior_serverActivating backup + 24.55sINFObehavior_serverActivating drive_on_heading + 24.55sINFObehavior_serverActivating assisted_teleop + 24.55sINFObehavior_serverActivating wait + 24.55sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 24.65sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 24.65sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 24.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134327 ms (missed cycles : 2). + 24.66sINFObt_navigatorActivating + 24.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134327 ms (missed cycles : 2).[0m ×2 + 24.71sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 24.81sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 24.81sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 24.81sINFOwaypoint_followerActivating + 24.81sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 24.92sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 24.92sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 24.92sINFOvelocity_smootherActivating + 24.92sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 25.02sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 25.02sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 25.02sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2).[0m ×2 + 26.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 26.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 27.64sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 29.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.45sINFOmove_groupClearing octomap...[0m ×2 + 29.45sINFOmove_groupOctomap cleared.[0m ×2 + 29.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 29.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 29.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 30.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 30.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 30.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 30.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 31.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.40sINFOobjective_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 + 31.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 31.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 31.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 31.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 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	73.7s	3 errors · 234 warnings · 243 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254157 ms (missed cycles : 2).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.515ms + 0.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.279ms + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063227 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063227 ms (missed cycles : 2).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.325ms + 1.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.144ms + 2.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.859ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254852 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254852 ms (missed cycles : 3).[0m ×2 + 2.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.029ms + 3.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.999ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782020 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782020 ms (missed cycles : 2).[0m ×2 + 3.74sINFOamclParticle filter update iteration stats: 4942 particles 723 points - 8.476ms + 4.20sINFOobjective_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 + 4.20sINFOjoint_trajectory_controllerGot request to cancel goal + 4.20sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.20sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.24sINFOamclParticle filter update iteration stats: 4052 particles 723 points - 5.878ms + 4.24sERRORobjective_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: 1787141278.63929296 seconds ×3 + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.25sINFOcontroller_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 + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542639 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542639 ms (missed cycles : 2).[0m ×2 + 4.36sWARNlocal_costmap.local_costmapSensor origin at (-0.58, 3.03) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.36sWARNlocal_costmap.local_costmapSensor origin at (-1.48, 3.00) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.323ms + 4.83sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787141279.22797298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.31sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361298 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361298 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045614 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045614 ms (missed cycles : 2).[0m ×2 + 7.47sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928760 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928760 ms (missed cycles : 2).[0m ×2 + 7.55sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.55sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.55sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.55sINFOros2_control_nodeAccepted new action goal[0m ×10 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398665 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398665 ms (missed cycles : 3).[0m ×2 + 9.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.707ms + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669327 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669327 ms (missed cycles : 2).[0m ×2 + 9.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.671ms + 10.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.292ms + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901621 ms (missed cycles : 3). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901621 ms (missed cycles : 3).[0m ×2 + 10.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.827ms + 11.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.335ms + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860818 ms (missed cycles : 3). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860818 ms (missed cycles : 3).[0m ×2 + 11.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.844ms + 12.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.541ms + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096848 ms (missed cycles : 4). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096848 ms (missed cycles : 4).[0m ×2 + 12.94sINFOamclParticle filter update iteration stats: 4590 particles 723 points - 6.578ms + 13.44sINFOamclParticle filter update iteration stats: 3211 particles 723 points - 4.703ms + 13.94sINFOamclParticle filter update iteration stats: 2103 particles 723 points - 3.470ms + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901056 ms (missed cycles : 3). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901056 ms (missed cycles : 3).[0m ×2 + 14.44sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 2.229ms + 14.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.787ms + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420544 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420544 ms (missed cycles : 2).[0m ×2 + 15.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 15.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116638 ms (missed cycles : 4). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116638 ms (missed cycles : 4).[0m ×2 + 16.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 16.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.121ms + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978106 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978106 ms (missed cycles : 2).[0m ×2 + 17.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.124ms + 17.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668078 ms (missed cycles : 4). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668078 ms (missed cycles : 4).[0m ×2 + 18.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.049ms + 18.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235515 ms (missed cycles : 2). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235515 ms (missed cycles : 2).[0m ×2 + 19.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.072ms + 19.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 20.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722096 ms (missed cycles : 2). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722096 ms (missed cycles : 2).[0m ×2 + 20.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 20.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 21.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504679 ms (missed cycles : 3). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504679 ms (missed cycles : 3).[0m ×2 + 21.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 22.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.793188 ms (missed cycles : 6). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.793188 ms (missed cycles : 6).[0m ×2 + 22.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 23.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.249ms + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127200 ms (missed cycles : 5). + 23.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127200 ms (missed cycles : 5).[0m ×2 + 23.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 24.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 24.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173405 ms (missed cycles : 3). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173405 ms (missed cycles : 3).[0m ×2 + 24.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 25.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861918 ms (missed cycles : 3). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861918 ms (missed cycles : 3).[0m ×2 + 25.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 26.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 26.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288904 ms (missed cycles : 2). + 26.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288904 ms (missed cycles : 2).[0m ×2 + 26.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 27.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.268ms + 27.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447306 ms (missed cycles : 3). + 27.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447306 ms (missed cycles : 3).[0m ×2 + 27.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.377ms + 28.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391411 ms (missed cycles : 3). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391411 ms (missed cycles : 3).[0m ×2 + 28.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 29.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 29.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.515140 ms (missed cycles : 4). + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.515140 ms (missed cycles : 4).[0m ×2 + 29.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms ×2 + 30.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 30.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094814 ms (missed cycles : 2). + 30.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094814 ms (missed cycles : 2).[0m ×2 + 30.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms ×2 + 31.14sINFOros2_control_nodeMuJoCo sim: 0.86% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms ×2 + 31.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884777 ms (missed cycles : 3). + 31.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884777 ms (missed cycles : 3).[0m ×2 + 32.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.147ms + 32.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713578 ms (missed cycles : 4). + 32.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713578 ms (missed cycles : 4).[0m ×2 + 32.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 33.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 33.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466434 ms (missed cycles : 4). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466434 ms (missed cycles : 4).[0m ×2 + 34.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 34.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 35.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.959043 ms (missed cycles : 4). + 35.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.959043 ms (missed cycles : 4).[0m ×2 + 35.92sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.92sINFOros2_control_nodeGoal reached, success![0m ×8 + 36.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046313 ms (missed cycles : 4). + 36.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046313 ms (missed cycles : 4).[0m ×2 + 36.24sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 37.06sINFOobjective_server_nodePlanning for 34 path waypoints. ×6 + 37.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689040 ms (missed cycles : 4). + 37.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689040 ms (missed cycles : 4).[0m ×2 + 38.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477923 ms (missed cycles : 3). + 38.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477923 ms (missed cycles : 3).[0m ×2 + 39.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935989 ms (missed cycles : 3). + 39.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935989 ms (missed cycles : 3).[0m ×2 + 39.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 40.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 40.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796184 ms (missed cycles : 4). + 40.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796184 ms (missed cycles : 4).[0m ×2 + 40.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 40.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.188ms + 41.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 41.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861106 ms (missed cycles : 2). + 41.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861106 ms (missed cycles : 2).[0m ×2 + 41.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 42.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142726 ms (missed cycles : 2). + 42.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142726 ms (missed cycles : 2).[0m ×2 + 43.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013863 ms (missed cycles : 3). + 43.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013863 ms (missed cycles : 3).[0m ×2 + 44.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319624 ms (missed cycles : 2). + 44.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319624 ms (missed cycles : 2).[0m ×2 + 45.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517438 ms (missed cycles : 2). + 45.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517438 ms (missed cycles : 2).[0m ×2 + 45.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 46.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.137ms + 47.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382140 ms (missed cycles : 4). + 47.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382140 ms (missed cycles : 4).[0m ×2 + 47.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 48.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480310 ms (missed cycles : 3). + 48.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480310 ms (missed cycles : 3).[0m ×2 + 48.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 49.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 49.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065922 ms (missed cycles : 4). + 49.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065922 ms (missed cycles : 4).[0m ×2 + 49.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 50.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417778 ms (missed cycles : 2). + 50.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417778 ms (missed cycles : 2).[0m ×2 + 50.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 51.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108873 ms (missed cycles : 4). + 51.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108873 ms (missed cycles : 4).[0m ×2 + 51.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 52.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174407 ms (missed cycles : 4). + 52.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174407 ms (missed cycles : 4).[0m ×2 + 52.73sINFOobjective_server_nodePlanning for 41 path waypoints. ×3 + 53.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811557 ms (missed cycles : 3). + 53.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811557 ms (missed cycles : 3).[0m ×2 + 54.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897638 ms (missed cycles : 3). + 54.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897638 ms (missed cycles : 3).[0m ×2 + 55.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158985 ms (missed cycles : 4). + 55.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158985 ms (missed cycles : 4).[0m ×2 + 56.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576737 ms (missed cycles : 4). + 56.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576737 ms (missed cycles : 4).[0m ×2 + 57.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 57.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883089 ms (missed cycles : 3). + 57.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883089 ms (missed cycles : 3).[0m ×2 + 58.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 58.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927628 ms (missed cycles : 3). + 58.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927628 ms (missed cycles : 3).[0m ×2 + 59.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 60.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.128ms + 60.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303323 ms (missed cycles : 3). + 60.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303323 ms (missed cycles : 3).[0m ×2 + 60.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.355ms + 61.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796046 ms (missed cycles : 3). + 61.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796046 ms (missed cycles : 3).[0m ×2 + 61.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 62.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611432 ms (missed cycles : 2). + 62.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611432 ms (missed cycles : 2).[0m ×2 + 62.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 63.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 63.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929252 ms (missed cycles : 2). + 63.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929252 ms (missed cycles : 2).[0m ×2 + 64.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 64.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688495 ms (missed cycles : 3). + 64.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688495 ms (missed cycles : 3).[0m ×2 + 65.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452497 ms (missed cycles : 3). + 65.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452497 ms (missed cycles : 3).[0m ×2 + 66.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829860 ms (missed cycles : 3). + 66.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829860 ms (missed cycles : 3).[0m ×2 + 67.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501585 ms (missed cycles : 3). + 67.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501585 ms (missed cycles : 3).[0m ×2 + 68.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035923 ms (missed cycles : 2). + 68.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035923 ms (missed cycles : 2).[0m ×2 + 69.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 69.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527336 ms (missed cycles : 2). + 69.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527336 ms (missed cycles : 2).[0m ×2 + 70.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 70.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160744 ms (missed cycles : 3). + 70.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160744 ms (missed cycles : 3).[0m ×2 + 71.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 72.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722894 ms (missed cycles : 3). + 72.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722894 ms (missed cycles : 3).[0m ×2 + 72.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 73.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798586 ms (missed cycles : 3). + 73.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798586 ms (missed cycles : 3).[0m ×2 + 73.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 74.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523321 ms (missed cycles : 4). + 74.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523321 ms (missed cycles : 4).[0m ×2 + 74.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms + 75.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 75.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276935 ms (missed cycles : 4). + 75.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276935 ms (missed cycles : 4).[0m ×2 + 75.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 76.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085716 ms (missed cycles : 2). + 76.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085716 ms (missed cycles : 2).[0m ×2 + 76.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 77.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243373 ms (missed cycles : 4). + 77.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243373 ms (missed cycles : 4).[0m ×2 + 77.98sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787141352.37820196 seconds ×3 + 78.06sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.06sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.56) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.470ms + 78.16sWARNlocal_costmap.local_costmapSensor origin at (-0.66, 5.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.16sWARNlocal_costmap.local_costmapSensor origin at (-1.54, 5.42) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.076ms + 78.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219116 ms (missed cycles : 2). + 78.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219116 ms (missed cycles : 2).[0m ×2 + 78.57sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787141352.96423388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 79.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836506 ms (missed cycles : 3). + 79.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836506 ms (missed cycles : 3).[0m ×2 + 80.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3). + 80.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.4s	188 warnings · 175 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849297 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849297 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974101 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974101 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989813 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989813 ms (missed cycles : 2).[0m ×2 + 3.95sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.95sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787141358.89436364 seconds ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840243 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840243 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787141359.49666429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (6.08e-07 s). ×2 + 5.44sWARNros2_control_nodeCamera render tick took 0.55 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 + 5.46sWARNros2_control_nodeNo point cloud published (expected every 0.050 s) by: scene_camera (0.57 s); wrist_camera (0.57 s). Behaviors waiting on those points topics will time out.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920354 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920354 ms (missed cycles : 4).[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234898 ms (missed cycles : 3). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234898 ms (missed cycles : 3).[0m ×2 + 7.23sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.29sINFOjoint_trajectory_controllerReceived new action goal ×3 + 7.29sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 7.30sINFOros2_control_nodeReceived new action goal[0m ×6 + 7.30sINFOros2_control_nodeAccepted new action goal[0m ×6 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400064 ms (missed cycles : 4). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400064 ms (missed cycles : 4).[0m ×2 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130529 ms (missed cycles : 2). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130529 ms (missed cycles : 2).[0m ×2 + 9.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.873ms + 9.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.701ms + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922238 ms (missed cycles : 2). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922238 ms (missed cycles : 2).[0m ×2 + 10.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.666ms + 10.65sINFOros2_control_nodeMuJoCo sim: 1.34% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 10.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.164ms + 11.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.909ms + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807557 ms (missed cycles : 3). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807557 ms (missed cycles : 3).[0m ×2 + 11.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.580ms + 12.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.517ms + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731468 ms (missed cycles : 3). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731468 ms (missed cycles : 3).[0m ×2 + 12.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.249ms + 13.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.000ms + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650347 ms (missed cycles : 4). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650347 ms (missed cycles : 4).[0m ×2 + 13.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.367ms + 14.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.439ms + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694643 ms (missed cycles : 3). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694643 ms (missed cycles : 3).[0m ×2 + 14.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.272ms + 15.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.980ms + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222465 ms (missed cycles : 4). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222465 ms (missed cycles : 4).[0m ×2 + 15.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.608ms + 16.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.517ms + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681045 ms (missed cycles : 3). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681045 ms (missed cycles : 3).[0m ×2 + 16.74sINFOamclParticle filter update iteration stats: 4611 particles 723 points - 6.151ms + 17.25sINFOamclParticle filter update iteration stats: 3866 particles 723 points - 5.111ms + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527711 ms (missed cycles : 3). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527711 ms (missed cycles : 3).[0m ×2 + 17.73sINFOamclParticle filter update iteration stats: 2669 particles 723 points - 3.640ms + 18.24sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 3.674ms + 18.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423058 ms (missed cycles : 3). + 18.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423058 ms (missed cycles : 3).[0m ×2 + 18.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.869ms + 19.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056353 ms (missed cycles : 2). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056353 ms (missed cycles : 2).[0m ×2 + 19.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.377ms + 20.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 20.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715791 ms (missed cycles : 3). + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715791 ms (missed cycles : 3).[0m ×2 + 20.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 21.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 21.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669053 ms (missed cycles : 3). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669053 ms (missed cycles : 3).[0m ×2 + 21.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 22.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 22.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms ×2 + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958563 ms (missed cycles : 3). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958563 ms (missed cycles : 3).[0m ×2 + 23.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 23.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 24.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989431 ms (missed cycles : 2). + 24.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989431 ms (missed cycles : 2).[0m ×2 + 24.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.178ms + 24.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.202ms + 25.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973924 ms (missed cycles : 2). + 25.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973924 ms (missed cycles : 2).[0m ×2 + 25.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 25.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840467 ms (missed cycles : 3). + 26.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840467 ms (missed cycles : 3).[0m ×2 + 26.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms + 26.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 27.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 27.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421295 ms (missed cycles : 3). + 27.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421295 ms (missed cycles : 3).[0m ×2 + 27.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 28.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.200ms + 28.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879928 ms (missed cycles : 3). + 28.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879928 ms (missed cycles : 3).[0m ×2 + 28.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms + 29.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 29.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747000 ms (missed cycles : 3). + 29.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747000 ms (missed cycles : 3).[0m ×2 + 29.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.188ms + 30.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.106ms + 30.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 30.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188041 ms (missed cycles : 3). + 30.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188041 ms (missed cycles : 3).[0m ×2 + 31.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 31.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862387 ms (missed cycles : 3). + 31.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862387 ms (missed cycles : 3).[0m ×2 + 32.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.152ms + 32.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213457 ms (missed cycles : 2). + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213457 ms (missed cycles : 2).[0m ×2 + 33.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 33.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 33.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009460 ms (missed cycles : 4). + 33.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009460 ms (missed cycles : 4).[0m ×2 + 34.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335002 ms (missed cycles : 4). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335002 ms (missed cycles : 4).[0m ×2 + 35.71sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264156 ms (missed cycles : 2). + 36.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264156 ms (missed cycles : 2).[0m ×2 + 37.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056168 ms (missed cycles : 4). + 37.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056168 ms (missed cycles : 4).[0m ×2 + 37.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 38.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098146 ms (missed cycles : 2). + 38.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098146 ms (missed cycles : 2).[0m ×2 + 39.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631669 ms (missed cycles : 4). + 39.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631669 ms (missed cycles : 4).[0m ×2 + 39.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.207ms + 40.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413617 ms (missed cycles : 2). + 40.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413617 ms (missed cycles : 2).[0m ×2 + 41.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857506 ms (missed cycles : 3). + 41.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857506 ms (missed cycles : 3).[0m ×2 + 42.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 42.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865047 ms (missed cycles : 5). + 42.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865047 ms (missed cycles : 5).[0m ×2 + 43.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705066 ms (missed cycles : 4). + 43.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705066 ms (missed cycles : 4).[0m ×2 + 44.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474637 ms (missed cycles : 2). + 44.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474637 ms (missed cycles : 2).[0m ×2 + 45.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179250 ms (missed cycles : 2). + 45.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179250 ms (missed cycles : 2).[0m ×2 + 45.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 46.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793664 ms (missed cycles : 4). + 46.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793664 ms (missed cycles : 4).[0m ×2 + 47.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037060 ms (missed cycles : 2). + 47.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037060 ms (missed cycles : 2).[0m ×2 + 48.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807626 ms (missed cycles : 3). + 48.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807626 ms (missed cycles : 3).[0m ×2 + 49.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms + 49.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.143248 ms (missed cycles : 4). + 49.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.143248 ms (missed cycles : 4).[0m ×2 + 51.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856480 ms (missed cycles : 5). + 51.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856480 ms (missed cycles : 5).[0m ×2 + 52.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588681 ms (missed cycles : 3). + 52.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588681 ms (missed cycles : 3).[0m ×2 + 52.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 53.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964474 ms (missed cycles : 3). + 53.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964474 ms (missed cycles : 3).[0m ×2 + 54.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830689 ms (missed cycles : 3). + 54.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830689 ms (missed cycles : 3).[0m ×2 + 55.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.592016 ms (missed cycles : 4). + 55.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.592016 ms (missed cycles : 4).[0m ×2 + 56.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322999 ms (missed cycles : 2). + 56.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322999 ms (missed cycles : 2).[0m ×2 + 56.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 57.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881508 ms (missed cycles : 2). + 57.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881508 ms (missed cycles : 2).[0m ×2 + 58.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769916 ms (missed cycles : 2). + 58.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769916 ms (missed cycles : 2).[0m ×2 + 59.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600064 ms (missed cycles : 4). + 59.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600064 ms (missed cycles : 4).[0m ×2 + 60.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124511 ms (missed cycles : 5). + 60.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124511 ms (missed cycles : 5).[0m ×2 + 60.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 61.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787141416.28683591 seconds ×3 + 61.46sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.46sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.040ms + 61.56sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 9.09) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.56sWARNlocal_costmap.local_costmapSensor origin at (-2.88, 9.12) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.020ms + 61.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940012 ms (missed cycles : 2). + 61.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940012 ms (missed cycles : 2).[0m ×2 + 61.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787141416.88033652 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.43sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 62.62sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604810 ms (missed cycles : 3). + 62.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604810 ms (missed cycles : 3).[0m ×2 + 63.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789177 ms (missed cycles : 3). + 63.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789177 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.1s	184 warnings · 226 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156162 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156162 ms (missed cycles : 3).[0m ×2 + 0.25sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.25sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787141112.89244604 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.62sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.988ms + 0.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787141113.47790265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914211 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914211 ms (missed cycles : 2).[0m ×2 + 2.01sINFOobjective_server_nodeFound path in 0 iterations (2.4413e-05 s). ×2 + 2.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 2.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.04sINFOjoint_trajectory_controllerReceived new action goal ×4 + 2.04sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 2.04sINFOros2_control_nodeReceived new action goal[0m ×8 + 2.04sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144413 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144413 ms (missed cycles : 2).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930714 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930714 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787141116.35804296 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397311 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397311 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787141116.94298339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297721 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297721 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580633 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580633 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576671 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576671 ms (missed cycles : 3).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638979 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638979 ms (missed cycles : 3).[0m ×2 + 8.62sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.578ms + 9.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.235ms + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439159 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439159 ms (missed cycles : 3).[0m ×2 + 9.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 10.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.135ms + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149442 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149442 ms (missed cycles : 2).[0m ×2 + 10.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 11.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347718 ms (missed cycles : 4). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347718 ms (missed cycles : 4).[0m ×2 + 11.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 12.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719708 ms (missed cycles : 2). + 12.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719708 ms (missed cycles : 2).[0m ×2 + 12.91sINFOros2_control_nodeMuJoCo sim: 0.39% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms + 13.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698656 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698656 ms (missed cycles : 2).[0m ×2 + 14.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 14.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842402 ms (missed cycles : 3). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842402 ms (missed cycles : 3).[0m ×2 + 15.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms ×2 + 15.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012249 ms (missed cycles : 3). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012249 ms (missed cycles : 3).[0m ×2 + 16.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.289ms + 16.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734655 ms (missed cycles : 2). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734655 ms (missed cycles : 2).[0m ×2 + 17.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 17.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 18.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967977 ms (missed cycles : 3). + 18.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967977 ms (missed cycles : 3).[0m ×2 + 18.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.108ms + 18.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 19.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114572 ms (missed cycles : 2). + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114572 ms (missed cycles : 2).[0m ×2 + 19.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 19.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 20.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173050 ms (missed cycles : 5). + 20.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173050 ms (missed cycles : 5).[0m ×2 + 20.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546685 ms (missed cycles : 3). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546685 ms (missed cycles : 3).[0m ×2 + 21.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.259ms + 22.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms ×3 + 22.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225453 ms (missed cycles : 2). + 22.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225453 ms (missed cycles : 2).[0m ×2 + 22.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 23.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 23.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122032 ms (missed cycles : 3). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122032 ms (missed cycles : 3).[0m ×2 + 23.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 24.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 24.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664868 ms (missed cycles : 3). + 24.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664868 ms (missed cycles : 3).[0m ×2 + 24.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.261ms + 25.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490956 ms (missed cycles : 3). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490956 ms (missed cycles : 3).[0m ×2 + 26.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964733 ms (missed cycles : 2). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964733 ms (missed cycles : 2).[0m ×2 + 26.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 27.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271556 ms (missed cycles : 4). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271556 ms (missed cycles : 4).[0m ×2 + 27.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 28.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 28.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801615 ms (missed cycles : 3). + 28.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801615 ms (missed cycles : 3).[0m ×2 + 29.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799813 ms (missed cycles : 3). + 29.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799813 ms (missed cycles : 3).[0m ×2 + 29.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 30.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 30.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138604 ms (missed cycles : 2). + 30.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138604 ms (missed cycles : 2).[0m ×2 + 30.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 31.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 31.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 31.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894242 ms (missed cycles : 2). + 31.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894242 ms (missed cycles : 2).[0m ×2 + 32.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 32.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 32.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430250 ms (missed cycles : 4). + 32.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430250 ms (missed cycles : 4).[0m ×2 + 33.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 34.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373898 ms (missed cycles : 3). + 34.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373898 ms (missed cycles : 3).[0m ×2 + 35.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826388 ms (missed cycles : 3). + 35.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826388 ms (missed cycles : 3).[0m ×2 + 35.16sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179434 ms (missed cycles : 2). + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179434 ms (missed cycles : 2).[0m ×2 + 37.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 37.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393294 ms (missed cycles : 4). + 37.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393294 ms (missed cycles : 4).[0m ×2 + 38.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580991 ms (missed cycles : 4). + 38.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580991 ms (missed cycles : 4).[0m ×2 + 39.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 39.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453180 ms (missed cycles : 4). + 39.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453180 ms (missed cycles : 4).[0m ×2 + 40.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036420 ms (missed cycles : 2). + 40.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036420 ms (missed cycles : 2).[0m ×2 + 41.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755204 ms (missed cycles : 3). + 41.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755204 ms (missed cycles : 3).[0m ×2 + 41.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 42.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646206 ms (missed cycles : 4). + 42.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646206 ms (missed cycles : 4).[0m ×2 + 43.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110938 ms (missed cycles : 2). + 43.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110938 ms (missed cycles : 2).[0m ×2 + 44.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683704 ms (missed cycles : 3). + 44.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683704 ms (missed cycles : 3).[0m ×2 + 45.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 45.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350414 ms (missed cycles : 4). + 45.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350414 ms (missed cycles : 4).[0m ×2 + 46.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830572 ms (missed cycles : 2). + 46.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830572 ms (missed cycles : 2).[0m ×2 + 47.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166822 ms (missed cycles : 3). + 47.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166822 ms (missed cycles : 3).[0m ×2 + 48.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.190ms + 49.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775861 ms (missed cycles : 3). + 49.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775861 ms (missed cycles : 3).[0m ×2 + 50.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.096615 ms (missed cycles : 5). + 50.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.096615 ms (missed cycles : 5).[0m ×2 + 51.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026674 ms (missed cycles : 4). + 51.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026674 ms (missed cycles : 4).[0m ×2 + 52.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 52.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746194 ms (missed cycles : 3). + 52.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746194 ms (missed cycles : 3).[0m ×2 + 53.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696309 ms (missed cycles : 3). + 53.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696309 ms (missed cycles : 3).[0m ×2 + 54.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485254 ms (missed cycles : 3). + 54.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485254 ms (missed cycles : 3).[0m ×2 + 55.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073119 ms (missed cycles : 2). + 55.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073119 ms (missed cycles : 2).[0m ×2 + 55.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 56.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168344 ms (missed cycles : 4). + 56.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168344 ms (missed cycles : 4).[0m ×2 + 57.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955680 ms (missed cycles : 2). + 57.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955680 ms (missed cycles : 2).[0m ×2 + 58.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165446 ms (missed cycles : 4). + 58.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165446 ms (missed cycles : 4).[0m ×2 + 59.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695545 ms (missed cycles : 3). + 59.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695545 ms (missed cycles : 3).[0m ×2 + 60.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.992ms + 60.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345304 ms (missed cycles : 4). + 60.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345304 ms (missed cycles : 4).[0m ×2 + 60.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787141173.47311831 seconds ×3 + 60.93sWARNlocal_costmap.local_costmapSensor origin at (-3.00, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.93sWARNlocal_costmap.local_costmapSensor origin at (-3.90, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.287ms + 61.04sWARNlocal_costmap.local_costmapSensor origin at (-1.69, 7.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.04sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 7.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.491ms + 61.46sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787141174.07550454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412489 ms (missed cycles : 3). + 61.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412489 ms (missed cycles : 3).[0m ×2 + 61.91sINFOobjective_server_nodeFound path in 0 iterations (9.58e-07 s). ×2 + 62.13sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000112 ms (missed cycles : 3). + 62.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000112 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	55.5s	181 warnings · 192 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670477 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670477 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894554 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894554 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175976 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175976 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.524389 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.524389 ms (missed cycles : 4).[0m ×2 + 3.97sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.97sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.01sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787141212.34188557 seconds ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.898ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488554 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488554 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787141212.93108487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081595 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081595 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896891 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896891 ms (missed cycles : 2).[0m ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.04sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.04sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.04sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.04sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244072 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244072 ms (missed cycles : 3).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870556 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870556 ms (missed cycles : 3).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.525ms + 9.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.096ms + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626758 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626758 ms (missed cycles : 3).[0m ×2 + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.953ms + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.349ms + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271218 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271218 ms (missed cycles : 2).[0m ×2 + 11.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.835ms + 11.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.924ms + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613092 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613092 ms (missed cycles : 3).[0m ×2 + 12.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.291ms + 12.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.614ms + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836800 ms (missed cycles : 3). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836800 ms (missed cycles : 3).[0m ×2 + 13.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.314ms + 13.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.741ms + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133314 ms (missed cycles : 2). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133314 ms (missed cycles : 2).[0m ×2 + 14.01sINFOamclParticle filter update iteration stats: 4683 particles 723 points - 6.484ms + 14.50sINFOamclParticle filter update iteration stats: 3731 particles 723 points - 5.160ms + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092276 ms (missed cycles : 3). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092276 ms (missed cycles : 3).[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 3253 particles 723 points - 4.156ms + 15.50sINFOamclParticle filter update iteration stats: 2669 particles 723 points - 5.000ms + 15.99sINFOamclParticle filter update iteration stats: 1988 particles 723 points - 3.042ms + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867129 ms (missed cycles : 3). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867129 ms (missed cycles : 3).[0m ×2 + 16.50sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 2.213ms + 17.00sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.555ms + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481117 ms (missed cycles : 3). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481117 ms (missed cycles : 3).[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314762 ms (missed cycles : 2). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314762 ms (missed cycles : 2).[0m ×2 + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.816ms + 19.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936843 ms (missed cycles : 2). + 19.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936843 ms (missed cycles : 2).[0m ×2 + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.218ms + 20.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554465 ms (missed cycles : 4). + 20.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554465 ms (missed cycles : 4).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.059ms + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.209ms + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.119947 ms (missed cycles : 4). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.119947 ms (missed cycles : 4).[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms ×2 + 22.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115032 ms (missed cycles : 2). + 22.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115032 ms (missed cycles : 2).[0m ×2 + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 23.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891750 ms (missed cycles : 3). + 23.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891750 ms (missed cycles : 3).[0m ×2 + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 24.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921004 ms (missed cycles : 2). + 24.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921004 ms (missed cycles : 2).[0m ×2 + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms ×2 + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms ×2 + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985422 ms (missed cycles : 3). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985422 ms (missed cycles : 3).[0m ×2 + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 26.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288074 ms (missed cycles : 4). + 26.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288074 ms (missed cycles : 4).[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.320ms + 27.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702529 ms (missed cycles : 3). + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702529 ms (missed cycles : 3).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 28.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846835 ms (missed cycles : 3). + 28.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846835 ms (missed cycles : 3).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.243ms + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 29.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550739 ms (missed cycles : 3). + 29.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550739 ms (missed cycles : 3).[0m ×2 + 30.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms ×2 + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.057ms + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 31.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582261 ms (missed cycles : 3). + 31.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582261 ms (missed cycles : 3).[0m ×2 + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms + 32.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773058 ms (missed cycles : 5). + 32.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773058 ms (missed cycles : 5).[0m ×2 + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 33.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189024 ms (missed cycles : 4). + 33.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189024 ms (missed cycles : 4).[0m ×2 + 34.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635656 ms (missed cycles : 3). + 34.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635656 ms (missed cycles : 3).[0m ×2 + 34.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 35.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221585 ms (missed cycles : 3). + 35.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221585 ms (missed cycles : 3).[0m ×2 + 36.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816657 ms (missed cycles : 3). + 36.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816657 ms (missed cycles : 3).[0m ×2 + 37.20sINFOros2_control_nodeMuJoCo sim: 0.62% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 37.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164123 ms (missed cycles : 2). + 37.41sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164123 ms (missed cycles : 2).[0m ×2 + 38.24sINFOobjective_server_nodePlanning for 50 path waypoints. ×3 + 38.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455528 ms (missed cycles : 4). + 38.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455528 ms (missed cycles : 4).[0m ×2 + 39.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963434 ms (missed cycles : 3). + 39.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963434 ms (missed cycles : 3).[0m ×2 + 40.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 40.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321606 ms (missed cycles : 2). + 40.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321606 ms (missed cycles : 2).[0m ×2 + 41.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.136ms + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 41.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229073 ms (missed cycles : 2). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229073 ms (missed cycles : 2).[0m ×2 + 42.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.274ms + 42.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 42.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459688 ms (missed cycles : 3). + 42.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459688 ms (missed cycles : 3).[0m ×2 + 43.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399960 ms (missed cycles : 2). + 43.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399960 ms (missed cycles : 2).[0m ×2 + 43.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 44.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096623 ms (missed cycles : 2). + 44.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096623 ms (missed cycles : 2).[0m ×2 + 45.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801336 ms (missed cycles : 3). + 45.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801336 ms (missed cycles : 3).[0m ×2 + 46.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759144 ms (missed cycles : 3). + 46.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759144 ms (missed cycles : 3).[0m ×2 + 47.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 47.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851802 ms (missed cycles : 2). + 47.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851802 ms (missed cycles : 2).[0m ×2 + 49.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592705 ms (missed cycles : 3). + 49.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592705 ms (missed cycles : 3).[0m ×2 + 49.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 50.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 50.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615395 ms (missed cycles : 3). + 50.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615395 ms (missed cycles : 3).[0m ×2 + 50.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 51.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810879 ms (missed cycles : 2). + 51.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810879 ms (missed cycles : 2).[0m ×2 + 51.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 52.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168317 ms (missed cycles : 4). + 52.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168317 ms (missed cycles : 4).[0m ×2 + 52.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms ×2 + 53.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619662 ms (missed cycles : 4). + 53.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619662 ms (missed cycles : 4).[0m ×2 + 53.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 54.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731061 ms (missed cycles : 4). + 54.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731061 ms (missed cycles : 4).[0m ×2 + 55.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 55.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024426 ms (missed cycles : 4). + 55.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024426 ms (missed cycles : 4).[0m ×2 + 56.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 56.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696751 ms (missed cycles : 4). + 56.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696751 ms (missed cycles : 4).[0m ×2 + 57.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 57.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088979 ms (missed cycles : 2). + 57.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088979 ms (missed cycles : 2).[0m ×2 + 58.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962591 ms (missed cycles : 2). + 58.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962591 ms (missed cycles : 2).[0m ×2 + 58.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 59.53sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787141267.86122751 seconds ×3 + 59.62sWARNlocal_costmap.local_costmapSensor origin at (-1.83, 10.69) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 59.62sWARNlocal_costmap.local_costmapSensor origin at (-2.56, 11.22) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 59.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.966ms + 59.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603571 ms (missed cycles : 2). + 59.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603571 ms (missed cycles : 2).[0m ×2 + 59.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.612ms + 60.11sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787141268.44579124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.60sINFOobjective_server_nodeFound path in 0 iterations (7.28e-07 s). ×2 + 60.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801851 ms (missed cycles : 3). + 60.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801851 ms (missed cycles : 3).[0m ×2 + 61.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081483 ms (missed cycles : 2). + 61.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081483 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	141 warnings · 266 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 1.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 4.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 5.81sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.81sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.81sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.81sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310237 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310237 ms (missed cycles : 2).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908699 ms (missed cycles : 3). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908699 ms (missed cycles : 3).[0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040646 ms (missed cycles : 2). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040646 ms (missed cycles : 2).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139478 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139478 ms (missed cycles : 2).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483662 ms (missed cycles : 3). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483662 ms (missed cycles : 3).[0m ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491445 ms (missed cycles : 3). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491445 ms (missed cycles : 3).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190256 ms (missed cycles : 3). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190256 ms (missed cycles : 3).[0m ×2 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030074 ms (missed cycles : 2). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030074 ms (missed cycles : 2).[0m ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648723 ms (missed cycles : 3). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648723 ms (missed cycles : 3).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959041 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959041 ms (missed cycles : 2).[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950329 ms (missed cycles : 3). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950329 ms (missed cycles : 3).[0m ×2 + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355496 ms (missed cycles : 3). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355496 ms (missed cycles : 3).[0m ×2 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318327 ms (missed cycles : 2). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318327 ms (missed cycles : 2).[0m ×2 + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351343 ms (missed cycles : 3). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351343 ms (missed cycles : 3).[0m ×2 + 20.51sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 2.157ms + 21.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802705 ms (missed cycles : 2). + 21.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802705 ms (missed cycles : 2).[0m ×2 + 22.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090930 ms (missed cycles : 2). + 22.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090930 ms (missed cycles : 2).[0m ×2 + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703089 ms (missed cycles : 2). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703089 ms (missed cycles : 2).[0m ×2 + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134372 ms (missed cycles : 3). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134372 ms (missed cycles : 3).[0m ×2 + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936696 ms (missed cycles : 3). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936696 ms (missed cycles : 3).[0m ×2 + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445567 ms (missed cycles : 3). + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445567 ms (missed cycles : 3).[0m ×2 + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011771 ms (missed cycles : 2). + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011771 ms (missed cycles : 2).[0m ×2 + 28.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235181 ms (missed cycles : 3). + 28.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235181 ms (missed cycles : 3).[0m ×2 + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387359 ms (missed cycles : 2). + 30.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387359 ms (missed cycles : 2).[0m ×2 + 31.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913936 ms (missed cycles : 2). + 31.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913936 ms (missed cycles : 2).[0m ×2 + 32.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704174 ms (missed cycles : 2). + 32.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704174 ms (missed cycles : 2).[0m ×2 + 33.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715842 ms (missed cycles : 3). + 33.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715842 ms (missed cycles : 3).[0m ×2 + 34.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822087 ms (missed cycles : 3). + 34.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822087 ms (missed cycles : 3).[0m ×2 + 35.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528300 ms (missed cycles : 2). + 35.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528300 ms (missed cycles : 2).[0m ×2 + 36.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874192 ms (missed cycles : 2). + 36.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874192 ms (missed cycles : 2).[0m ×2 + 37.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861377 ms (missed cycles : 2). + 37.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861377 ms (missed cycles : 2).[0m ×2 + 38.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006182 ms (missed cycles : 3). + 38.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006182 ms (missed cycles : 3).[0m ×2 + 39.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675370 ms (missed cycles : 3). + 39.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675370 ms (missed cycles : 3).[0m ×2 + 40.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768746 ms (missed cycles : 3). + 40.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768746 ms (missed cycles : 3).[0m ×2 + 41.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986933 ms (missed cycles : 2). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986933 ms (missed cycles : 2).[0m ×2 + 42.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508862 ms (missed cycles : 2). + 42.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508862 ms (missed cycles : 2).[0m ×2 + 43.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989044 ms (missed cycles : 2). + 43.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989044 ms (missed cycles : 2).[0m ×2 + 44.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670574 ms (missed cycles : 2). + 44.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670574 ms (missed cycles : 2).[0m ×2 + 46.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303243 ms (missed cycles : 4). + 46.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303243 ms (missed cycles : 4).[0m ×2 + 47.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156162 ms (missed cycles : 3). + 47.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156162 ms (missed cycles : 3).[0m ×2 + 47.34sINFOjoint_trajectory_controllerGoal reached, success! + 47.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787141112.89244604 seconds ×3 + 47.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.71sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.988ms + 47.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787141113.47790265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914211 ms (missed cycles : 2). + 48.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914211 ms (missed cycles : 2).[0m ×2 + 49.10sINFOobjective_server_nodeFound path in 0 iterations (2.4413e-05 s). ×2 + 49.10sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144413 ms (missed cycles : 2). + 49.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144413 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.5s	113 warnings · 146 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991463 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991463 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182962 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182962 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204267 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204267 ms (missed cycles : 3).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961337 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961337 ms (missed cycles : 3).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.29sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.34sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787141179.81564617 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948994 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948994 ms (missed cycles : 2).[0m ×2 + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.92sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787141181.40175033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339522 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339522 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeFound path in 0 iterations (8.21e-07 s). ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826570 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826570 ms (missed cycles : 3).[0m ×2 + 7.39sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.45sINFOjoint_trajectory_controllerReceived new action goal + 7.45sINFOjoint_trajectory_controllerAccepted new action goal + 7.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319639 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319639 ms (missed cycles : 2).[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300122 ms (missed cycles : 4). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300122 ms (missed cycles : 4).[0m ×2 + 9.05sINFOros2_control_nodeMuJoCo sim: 0.70% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.905ms + 9.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.169ms + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534457 ms (missed cycles : 3). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534457 ms (missed cycles : 3).[0m ×2 + 10.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.866ms + 10.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.518ms + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226882 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226882 ms (missed cycles : 2).[0m ×2 + 11.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.453ms + 11.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.361ms + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853953 ms (missed cycles : 2). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853953 ms (missed cycles : 2).[0m ×2 + 12.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.759ms + 12.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.838ms + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373882 ms (missed cycles : 4). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373882 ms (missed cycles : 4).[0m ×2 + 13.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.798ms + 13.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.447ms + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770575 ms (missed cycles : 3). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770575 ms (missed cycles : 3).[0m ×2 + 14.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.523ms + 14.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.310ms + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179337 ms (missed cycles : 4). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179337 ms (missed cycles : 4).[0m ×2 + 15.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.819ms + 15.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.196ms + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935814 ms (missed cycles : 3). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935814 ms (missed cycles : 3).[0m ×2 + 16.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.995ms + 16.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.392ms + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544967 ms (missed cycles : 3). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544967 ms (missed cycles : 3).[0m ×2 + 17.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.089ms + 17.86sINFOamclParticle filter update iteration stats: 3980 particles 723 points - 5.199ms + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787205 ms (missed cycles : 3). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787205 ms (missed cycles : 3).[0m ×2 + 18.35sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 3.364ms + 18.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.009ms + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642767 ms (missed cycles : 3). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642767 ms (missed cycles : 3).[0m ×2 + 19.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 19.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962233 ms (missed cycles : 3). + 20.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.119ms + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962233 ms (missed cycles : 3).[0m ×2 + 20.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 21.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671481 ms (missed cycles : 3). + 21.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671481 ms (missed cycles : 3).[0m ×2 + 21.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 21.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.029ms + 22.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.057ms + 22.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683898 ms (missed cycles : 3). + 22.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683898 ms (missed cycles : 3).[0m ×2 + 22.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 23.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648326 ms (missed cycles : 4). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648326 ms (missed cycles : 4).[0m ×2 + 23.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 24.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 24.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464481 ms (missed cycles : 3). + 24.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464481 ms (missed cycles : 3).[0m ×2 + 24.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 25.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 25.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748205 ms (missed cycles : 3). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748205 ms (missed cycles : 3).[0m ×2 + 25.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms ×2 + 26.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888929 ms (missed cycles : 3). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888929 ms (missed cycles : 3).[0m ×2 + 26.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms ×2 + 27.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 27.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708134 ms (missed cycles : 3). + 27.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708134 ms (missed cycles : 3).[0m ×2 + 27.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 28.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.265ms + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607313 ms (missed cycles : 3). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607313 ms (missed cycles : 3).[0m ×2 + 28.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 29.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.232ms + 29.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731622 ms (missed cycles : 3). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731622 ms (missed cycles : 3).[0m ×2 + 29.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 30.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 30.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783659 ms (missed cycles : 3). + 30.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783659 ms (missed cycles : 3).[0m ×2 + 30.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.306ms + 31.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 31.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670477 ms (missed cycles : 2). + 31.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670477 ms (missed cycles : 2).[0m ×2 + 32.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 32.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 32.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894554 ms (missed cycles : 3). + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894554 ms (missed cycles : 3).[0m ×2 + 33.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175976 ms (missed cycles : 2). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175976 ms (missed cycles : 2).[0m ×2 + 34.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 35.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.524389 ms (missed cycles : 4). + 35.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.524389 ms (missed cycles : 4).[0m ×2 + 35.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787141212.34188557 seconds ×3 + 35.97sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 35.97sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 36.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.898ms + 36.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488554 ms (missed cycles : 3). + 36.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488554 ms (missed cycles : 3).[0m ×2 + 36.45sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787141212.93108487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.88sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 37.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081595 ms (missed cycles : 2). + 37.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081595 ms (missed cycles : 2).[0m ×2 + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896891 ms (missed cycles : 2). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896891 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	15.2s	67 warnings · 187 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881508 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881508 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769916 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769916 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600064 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600064 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124511 ms (missed cycles : 5). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124511 ms (missed cycles : 5).[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 3.71sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.71sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.72sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787141416.28683591 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.79sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.79sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.040ms + 3.89sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 9.09) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.89sWARNlocal_costmap.local_costmapSensor origin at (-2.88, 9.12) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.020ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940012 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940012 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787141416.88033652 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.96sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604810 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604810 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789177 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789177 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996892 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996892 ms (missed cycles : 2).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422020 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422020 ms (missed cycles : 3).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412024 ms (missed cycles : 3). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412024 ms (missed cycles : 3).[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047415 ms (missed cycles : 2). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047415 ms (missed cycles : 2).[0m ×2 + 10.66sINFOobjective_server_nodeFound path in 0 iterations (5.77e-07 s). ×2 + 10.70sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.75sINFOobjective_server_nodeFound path in 0 iterations (5.35e-07 s). ×2 + 10.80sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.84sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 10.91sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.95sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 11.01sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 11.06sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 11.25sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 11.29sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150109 ms (missed cycles : 2). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150109 ms (missed cycles : 2).[0m ×2 + 11.62sINFOobjective_server_nodeFound path in 146 iterations (0.113761 s). ×2 + 12.08sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_____X] ×2 + 12.14sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 12.64sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962941 ms (missed cycles : 3). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962941 ms (missed cycles : 3).[0m ×2 + 12.91sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.98sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918996 ms (missed cycles : 3). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918996 ms (missed cycles : 3).[0m ×2 + 14.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.014ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479787 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479787 ms (missed cycles : 3).[0m ×2 + 15.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.268ms + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671350 ms (missed cycles : 3). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671350 ms (missed cycles : 3).[0m ×2 + 15.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.709ms + 16.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.137ms + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849700 ms (missed cycles : 3). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849700 ms (missed cycles : 3).[0m ×2 + 17.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.881ms + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290980 ms (missed cycles : 2). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290980 ms (missed cycles : 2).[0m ×2 + 18.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.824ms + 18.90sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787141431.46712875 seconds ×3 + 19.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023842 ms (missed cycles : 3). + 19.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023842 ms (missed cycles : 3).[0m ×2 + 19.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.092ms + 19.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.252ms + 19.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787141432.09032345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.53sINFOmove_groupClearing octomap...[0m ×2 + 19.53sINFOmove_groupOctomap cleared.[0m ×2 + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230128 ms (missed cycles : 3). + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230128 ms (missed cycles : 3).[0m ×2 + 20.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787141432.62046504 seconds ×3 + 20.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787141433.20150518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016239 ms (missed cycles : 4). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016239 ms (missed cycles : 4).[0m ×2 + 21.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787141433.74162889 seconds ×3 + 21.41sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.2s	90 errors · 33 warnings · 432 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671350 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671350 ms (missed cycles : 3).[0m ×2 + 0.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.709ms + 0.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.137ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849700 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849700 ms (missed cycles : 3).[0m ×2 + 1.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.881ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290980 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290980 ms (missed cycles : 2).[0m ×2 + 2.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.824ms + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787141431.46712875 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023842 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023842 ms (missed cycles : 3).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.092ms + 3.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.252ms + 3.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787141432.09032345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230128 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230128 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787141432.62046504 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787141433.20150518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016239 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016239 ms (missed cycles : 4).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787141433.74162889 seconds ×3 + 5.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672625 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672625 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542755 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542755 ms (missed cycles : 3).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836029 ms (missed cycles : 3). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836029 ms (missed cycles : 3).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223965 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223965 ms (missed cycles : 2).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052108 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052108 ms (missed cycles : 2).[0m ×2 + 10.92sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 10.96sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORweb_video_auth_proxy-35process has died [pid 9607, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.97sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.01sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORweb_bridge_auth_proxy-34process has died [pid 9606, 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 + 11.01sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.17sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.19sINFOvideo_server-33process has finished cleanly [pid 9605] ×2 + 11.19sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.22sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.24sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.26sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.27sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.29sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.32sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.35sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.39sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.42sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.45sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9603] ×2 + 11.46sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.49sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.53sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.53sINFOcontroller_managerShutdown request received.... + 11.53sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.53sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.53sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.53sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.53sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.53sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.53sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.53sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.53sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.53sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.53sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.53sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.53sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.53sINFOcontroller_managerShutting down the controller manager. + 11.55sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.55sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1787141439.710 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.56sINFOui_teleop_bridge-30process has finished cleanly [pid 9600] ×2 + 11.56sERRORmove_group-21process has died [pid 9573, 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__sjtcwrx --params-file /tmp/launch_params_htcylzuu --params-file /tmp/launch_params_14r3qfzf --params-file /tmp/launch_params_3knicvxq --params-file /tmp/launch_params_u603iv0p --params-file /tmp/launch_params_gx1pw_ya']. ×2 + 11.57sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.58sINFOcomponent_container_mt-28process has finished cleanly [pid 9598] ×2 + 11.60sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.60sINFOexecute_objective_bridge-29process has finished cleanly [pid 9599] ×2 + 11.62sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.64sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.66sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.68sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.68sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.69sINFOmap_serverDeactivating + 11.69sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.70sINFOmap_serverCleaning up + 11.70sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.70sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.71sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.71sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.71sINFOcontroller_serverDeactivating + 11.71sINFOlocal_costmap.local_costmapDeactivating + 11.71sINFOvideo_server2026/08/19 12:10:39 INF shutting down gracefully ×2 + 11.71sINFOvideo_server2026/08/19 12:10:39 INF [WebRTC] closing ×2 + 11.71sINFOvideo_server2026/08/19 12:10:39 INF [RTSP] closing ×2 + 11.71sINFOvideo_server2026/08/19 12:10:39 INF waiting for running hooks ×2 + 11.71sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.71sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.71sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.71sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.71sERRORamclThe bond connection to the lifecycle manager has been broken + 11.71sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.72sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.72sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.72sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.72sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.72sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.72sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.72sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.72sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.72sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.72sERRORmove_groupStack trace (most recent call last) in thread 10212: ×2 + 11.72sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.72sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1e224f4b63, in __clone ×2 + 11.72sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1e22467b83, in ×2 + 11.72sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1e226f9db3, in ×2 + 11.72sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f1e22e6a637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.72sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1e22a8b620, in rclcpp::Rate::sleep() ×2 + 11.72sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1e229cdd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.72sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1e2298f087, in ×2 + 11.72sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1e226c8390, in __cxa_throw ×2 + 11.72sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1e226b2a54, in std::terminate() ×2 + 11.72sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1e226c80d9, in ×2 + 11.72sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1e226b2ff4, in ×2 + 11.72sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1e223f38fe, in abort ×2 + 11.72sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1e2241027d, in raise ×2 + 11.72sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1e22469c0c, in pthread_kill ×2 + 11.72sERRORmove_groupAborted (Signal sent by tkill() 9573 0) ×2 + 11.72sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.72sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.72sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.72sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.72sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.72sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.72sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.72sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.73sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.73sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.73sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.73sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.73sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.73sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.73sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.73sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.73sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.73sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.73sINFOodom_qos_relay.pymain() ×2 + 11.73sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.73sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.73sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.73sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.73sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.73sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.73sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.73sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.73sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.73sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.73sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.73sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.73sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.73sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.73sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.73sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.74sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.74sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 11.75sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.80sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.81sINFOcontroller_serverCleaning up + 11.81sINFOlocal_costmap.local_costmapCleaning up + 11.85sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.85sINFOsmoother_serverDeactivating + 11.85sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.85sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.85sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.85sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.85sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.85sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.85sINFOvelocity_smootherDeactivating + 11.85sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.86sINFOsmoother_serverCleaning up + 11.87sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.87sINFOplanner_serverDeactivating + 11.87sINFOglobal_costmap.global_costmapDeactivating + 11.91sERRORcomponent_container_isolated-2process has died [pid 9477, 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_h8e3hppp --params-file /tmp/launch_params_4xbzoorf -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.96sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.96sINFOwaypoint_followerDeactivating + 11.96sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.08sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.08sINFObt_navigatorDeactivating + 12.08sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.19sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.19sINFObehavior_serverDeactivating + 12.19sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.30sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.30sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.30sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 12.30sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.30sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.30sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.30sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.31sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.31sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.31sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.31sINFOvelocity_smootherCleaning up + 12.31sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.31sINFOwaypoint_followerCleaning up + 12.34sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.34sINFObt_navigatorCleaning up + 12.40sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9595] ×2 + 12.44sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9594] ×2 + 12.50sINFOobjective_server_node[2026-08-19 12:10:40.958] [moveit_pro_license] [critical] ×2 + 12.50sINFOobjective_server_node************************************************* ×4 + 12.50sINFOobjective_server_node* MoveIt Pro License ×2 + 12.50sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.51sINFObt_navigatorCompleted Cleaning up + 12.52sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.52sINFObehavior_serverCleaning up + 12.52sINFOcomponent_container_mt-27process has finished cleanly [pid 9597] ×2 + 12.52sINFOwaypoint_manager_node-23process has finished cleanly [pid 9575] ×2 + 12.52sINFOparameter_manager_node-22process has finished cleanly [pid 9574] ×2 + 12.56sINFOobjective_server_node_main-26process has finished cleanly [pid 9596] ×2 + 12.57sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.58sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.58sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.58sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.58sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.58sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.58sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.59sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9483] ×2 + 12.62sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9482] ×2 + 12.68sINFOstatic_transform_publisher-4process has finished cleanly [pid 9479] ×2 + 12.70sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9481] ×2 + 12.71sINFOstatic_transform_publisher-3process has finished cleanly [pid 9478] ×2 + 12.72sERRORodom_qos_relay.py-5process has died [pid 9480, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.82sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.82sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.83sINFOplanner_serverCleaning up + 12.85sINFOglobal_costmap.global_costmapCleaning up + 12.86sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.86sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.89sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.89sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.89sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.89sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.89sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.15sERRORcomponent_container_isolated-1process has died [pid 9476, 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_h8e3hppp --params-file /tmp/launch_params_ms7di3b3 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.08sINFOweb_bridge-31process has finished cleanly [pid 9601] ×2 + 14.08sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.25sINFOros2_control_node-9process has finished cleanly [pid 9484] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.8s	3 errors · 55 warnings · 114 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024426 ms (missed cycles : 4). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024426 ms (missed cycles : 4).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696751 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696751 ms (missed cycles : 4).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088979 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088979 ms (missed cycles : 2).[0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962591 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962591 ms (missed cycles : 2).[0m ×2 + 3.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 4.32sINFOjoint_trajectory_controllerGoal reached, success! + 4.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787141267.86122751 seconds ×3 + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.43sWARNlocal_costmap.local_costmapSensor origin at (-1.83, 10.69) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.43sWARNlocal_costmap.local_costmapSensor origin at (-2.56, 11.22) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.966ms + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603571 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603571 ms (missed cycles : 2).[0m ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.612ms + 4.92sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787141268.44579124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.41sINFOobjective_server_nodeFound path in 0 iterations (7.28e-07 s). ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801851 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801851 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081483 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081483 ms (missed cycles : 2).[0m ×2 + 7.61sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230985 ms (missed cycles : 3). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230985 ms (missed cycles : 3).[0m ×2 + 7.66sINFOjoint_trajectory_controllerReceived new action goal + 7.67sINFOjoint_trajectory_controllerAccepted new action goal + 7.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035864 ms (missed cycles : 3). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035864 ms (missed cycles : 3).[0m ×2 + 9.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.791ms + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584876 ms (missed cycles : 3). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584876 ms (missed cycles : 3).[0m ×2 + 10.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.685ms + 10.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.289ms + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254157 ms (missed cycles : 2). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254157 ms (missed cycles : 2).[0m ×2 + 11.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.515ms + 11.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.279ms + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063227 ms (missed cycles : 2). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063227 ms (missed cycles : 2).[0m ×2 + 12.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.325ms + 12.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.144ms + 13.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.859ms + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254852 ms (missed cycles : 3). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254852 ms (missed cycles : 3).[0m ×2 + 13.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.029ms + 14.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.999ms + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782020 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782020 ms (missed cycles : 2).[0m ×2 + 14.62sINFOamclParticle filter update iteration stats: 4942 particles 723 points - 8.476ms + 15.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.07sINFOjoint_trajectory_controllerGot request to cancel goal + 15.07sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 15.08sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 15.08sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 15.11sINFOamclParticle filter update iteration stats: 4052 particles 723 points - 5.878ms + 15.12sERRORobjective_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: 1787141278.63929296 seconds ×3 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542639 ms (missed cycles : 2). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542639 ms (missed cycles : 2).[0m ×2 + 15.23sWARNlocal_costmap.local_costmapSensor origin at (-0.58, 3.03) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 15.23sWARNlocal_costmap.local_costmapSensor origin at (-1.48, 3.00) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 15.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.323ms + 15.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787141279.22797298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.18sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361298 ms (missed cycles : 3). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361298 ms (missed cycles : 3).[0m ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045614 ms (missed cycles : 2). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045614 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.3s	46 warnings · 95 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168344 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168344 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955680 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955680 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165446 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165446 ms (missed cycles : 4).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695545 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695545 ms (missed cycles : 3).[0m ×2 + 3.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.992ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345304 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345304 ms (missed cycles : 4).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.25sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787141173.47311831 seconds ×3 + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.33sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.00, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.90, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.287ms + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-1.69, 7.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 7.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.491ms + 4.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787141174.07550454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412489 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412489 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (9.58e-07 s). ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000112 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000112 ms (missed cycles : 3).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991463 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991463 ms (missed cycles : 3).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182962 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182962 ms (missed cycles : 2).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204267 ms (missed cycles : 3). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204267 ms (missed cycles : 3).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961337 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961337 ms (missed cycles : 3).[0m ×2 + 10.65sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787141179.81564617 seconds ×3 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948994 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948994 ms (missed cycles : 2).[0m ×2 + 12.23sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787141181.40175033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339522 ms (missed cycles : 3). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339522 ms (missed cycles : 3).[0m ×2 + 12.65sINFOobjective_server_nodeFound path in 0 iterations (8.21e-07 s). ×2 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826570 ms (missed cycles : 3). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826570 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	44 warnings · 94 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523321 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523321 ms (missed cycles : 4).[0m ×2 + 0.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms + 0.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276935 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276935 ms (missed cycles : 4).[0m ×2 + 1.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085716 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085716 ms (missed cycles : 2).[0m ×2 + 2.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243373 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243373 ms (missed cycles : 4).[0m ×2 + 3.77sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.77sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.79sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787141352.37820196 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.56) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.470ms + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-0.66, 5.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-1.54, 5.42) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.076ms + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219116 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219116 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787141352.96423388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.91sINFOjoint_trajectory_controllerReceived new action goal + 4.91sINFOjoint_trajectory_controllerAccepted new action goal + 4.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836506 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836506 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849297 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849297 ms (missed cycles : 3).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974101 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974101 ms (missed cycles : 2).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989813 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989813 ms (missed cycles : 2).[0m ×2 + 10.31sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787141358.89436364 seconds ×3 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840243 ms (missed cycles : 3). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840243 ms (missed cycles : 3).[0m ×2 + 10.91sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787141359.49666429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.36sINFOobjective_server_nodeFound path in 0 iterations (6.08e-07 s). ×2 + 11.74sWARNros2_control_nodeCamera render tick took 0.55 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 + 11.77sWARNros2_control_nodeNo point cloud published (expected every 0.050 s) by: scene_camera (0.57 s); wrist_camera (0.57 s). Behaviors waiting on those points topics will time out.[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920354 ms (missed cycles : 4). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920354 ms (missed cycles : 4).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.5s	27 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989044 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989044 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670574 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670574 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303243 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303243 ms (missed cycles : 4).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156162 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156162 ms (missed cycles : 3).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.38sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787141112.89244604 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.75sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.988ms + 3.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787141113.47790265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914211 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914211 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4413e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144413 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144413 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930714 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930714 ms (missed cycles : 3).[0m ×2 + 6.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787141116.35804296 seconds ×3 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397311 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397311 ms (missed cycles : 3).[0m ×2 + 7.46sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787141116.94298339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.84sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297721 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297721 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.1s	24 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.014ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479787 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479787 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.268ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671350 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671350 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.709ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.137ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849700 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849700 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.881ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290980 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290980 ms (missed cycles : 2).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.824ms + 4.11sINFOjoint_trajectory_controllerGoal reached, success! + 4.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787141431.46712875 seconds ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×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 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023842 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023842 ms (missed cycles : 3).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.092ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.252ms + 4.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787141432.09032345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.75sINFOmove_groupClearing octomap...[0m ×2 + 4.75sINFOmove_groupOctomap cleared.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230128 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230128 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787141432.62046504 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787141433.20150518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016239 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016239 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787141433.74162889 seconds ×3 + 6.64sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672625 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672625 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	18 warnings · 214 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 1.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.24sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.81sINFOmove_groupClearing octomap...[0m ×2 + 1.81sINFOmove_groupOctomap cleared.[0m ×2 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 4.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 5.81sINFOjoint_trajectory_controllerReceived new action goal + 5.81sINFOjoint_trajectory_controllerAccepted new action goal + 5.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.81sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	18 warnings · 51 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989044 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989044 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670574 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670574 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303243 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303243 ms (missed cycles : 4).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156162 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156162 ms (missed cycles : 3).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787141112.89244604 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.75sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.988ms + 3.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787141113.47790265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914211 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914211 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4413e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144413 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144413 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	18 warnings · 51 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989044 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989044 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670574 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670574 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303243 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303243 ms (missed cycles : 4).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156162 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156162 ms (missed cycles : 3).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787141112.89244604 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.75sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.988ms + 3.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787141113.47790265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914211 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914211 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4413e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144413 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144413 ms (missed cycles : 2).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	19 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156162 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156162 ms (missed cycles : 3).[0m ×2 + 0.25sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.25sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787141112.89244604 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.62sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.988ms + 0.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787141113.47790265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914211 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914211 ms (missed cycles : 2).[0m ×2 + 2.01sINFOobjective_server_nodeFound path in 0 iterations (2.4413e-05 s). ×2 + 2.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.04sINFOjoint_trajectory_controllerReceived new action goal + 2.04sINFOjoint_trajectory_controllerAccepted new action goal + 2.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144413 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144413 ms (missed cycles : 2).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930714 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930714 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787141116.35804296 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397311 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397311 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787141116.94298339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297721 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297721 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580633 ms (missed cycles : 2).
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	25 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168344 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168344 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955680 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955680 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165446 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165446 ms (missed cycles : 4).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695545 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695545 ms (missed cycles : 3).[0m ×2 + 3.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.992ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345304 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345304 ms (missed cycles : 4).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! + 4.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787141173.47311831 seconds ×3 + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.00, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.90, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.287ms + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-1.69, 7.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 7.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.491ms + 4.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787141174.07550454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412489 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412489 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (9.58e-07 s). ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000112 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000112 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	25 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168344 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168344 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955680 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955680 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165446 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165446 ms (missed cycles : 4).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695545 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695545 ms (missed cycles : 3).[0m ×2 + 3.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.992ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345304 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345304 ms (missed cycles : 4).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! + 4.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787141173.47311831 seconds ×3 + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.00, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.90, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.287ms + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-1.69, 7.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 7.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.491ms + 4.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787141174.07550454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412489 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412489 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (9.58e-07 s). ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000112 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000112 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	25 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168344 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168344 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955680 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955680 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165446 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165446 ms (missed cycles : 4).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695545 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695545 ms (missed cycles : 3).[0m ×2 + 3.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.992ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345304 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345304 ms (missed cycles : 4).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! + 4.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787141173.47311831 seconds ×3 + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.00, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.90, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.287ms + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-1.69, 7.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 7.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.491ms + 4.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787141174.07550454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412489 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412489 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (9.58e-07 s). ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000112 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000112 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	25 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168344 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168344 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955680 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955680 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165446 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165446 ms (missed cycles : 4).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695545 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695545 ms (missed cycles : 3).[0m ×2 + 3.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.992ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345304 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345304 ms (missed cycles : 4).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! + 4.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787141173.47311831 seconds ×3 + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.00, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.90, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.287ms + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-1.69, 7.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 7.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.491ms + 4.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787141174.07550454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412489 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412489 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (9.58e-07 s). ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000112 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000112 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	25 warnings · 53 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168344 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168344 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955680 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955680 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165446 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165446 ms (missed cycles : 4).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695545 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695545 ms (missed cycles : 3).[0m ×2 + 3.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.992ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345304 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345304 ms (missed cycles : 4).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! + 4.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787141173.47311831 seconds ×3 + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.00, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-3.90, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.287ms + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-1.69, 7.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.48sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 7.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.491ms + 4.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787141174.07550454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412489 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412489 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_nodeFound path in 0 iterations (9.58e-07 s). ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000112 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000112 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	23 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670477 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670477 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894554 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894554 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175976 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175976 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.524389 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.524389 ms (missed cycles : 4).[0m ×2 + 3.97sINFOjoint_trajectory_controllerGoal reached, success! + 3.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787141212.34188557 seconds ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.898ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488554 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488554 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787141212.93108487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081595 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081595 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896891 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896891 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	23 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670477 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670477 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894554 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894554 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175976 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175976 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.524389 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.524389 ms (missed cycles : 4).[0m ×2 + 3.97sINFOjoint_trajectory_controllerGoal reached, success! + 3.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787141212.34188557 seconds ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.898ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488554 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488554 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787141212.93108487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081595 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081595 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896891 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896891 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	23 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670477 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670477 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894554 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894554 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175976 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175976 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.524389 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.524389 ms (missed cycles : 4).[0m ×2 + 3.97sINFOjoint_trajectory_controllerGoal reached, success! + 3.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787141212.34188557 seconds ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.898ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488554 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488554 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787141212.93108487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081595 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081595 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896891 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896891 ms (missed cycles : 2).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	22 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849297 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849297 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974101 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974101 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989813 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989813 ms (missed cycles : 2).[0m ×2 + 3.95sINFOjoint_trajectory_controllerGoal reached, success! + 3.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787141358.89436364 seconds ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840243 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840243 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787141359.49666429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (6.08e-07 s). ×2 + 5.44sWARNros2_control_nodeCamera render tick took 0.55 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 + 5.46sWARNros2_control_nodeNo point cloud published (expected every 0.050 s) by: scene_camera (0.57 s); wrist_camera (0.57 s). Behaviors waiting on those points topics will time out.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920354 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920354 ms (missed cycles : 4).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	22 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849297 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849297 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974101 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974101 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989813 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989813 ms (missed cycles : 2).[0m ×2 + 3.95sINFOjoint_trajectory_controllerGoal reached, success! + 3.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787141358.89436364 seconds ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840243 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840243 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787141359.49666429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (6.08e-07 s). ×2 + 5.44sWARNros2_control_nodeCamera render tick took 0.55 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 + 5.46sWARNros2_control_nodeNo point cloud published (expected every 0.050 s) by: scene_camera (0.57 s); wrist_camera (0.57 s). Behaviors waiting on those points topics will time out.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920354 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920354 ms (missed cycles : 4).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	21 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.014ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479787 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479787 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.268ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671350 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671350 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.709ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.137ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849700 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849700 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.881ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290980 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290980 ms (missed cycles : 2).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.824ms + 4.11sINFOjoint_trajectory_controllerGoal reached, success! + 4.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787141431.46712875 seconds ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×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 + 4.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023842 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023842 ms (missed cycles : 3).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.092ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.252ms + 4.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787141432.09032345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.75sINFOmove_groupClearing octomap...[0m ×2 + 4.75sINFOmove_groupOctomap cleared.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230128 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230128 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787141432.62046504 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787141433.20150518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016239 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016239 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787141433.74162889 seconds ×3 + 6.64sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.75sINFOmove_groupOctomap cleared.[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_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 + 5.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.75sINFOmove_groupOctomap cleared.[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_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 + 5.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.75sINFOmove_groupOctomap cleared.[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_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 + 5.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	22 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849297 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849297 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974101 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974101 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989813 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989813 ms (missed cycles : 2).[0m ×2 + 3.95sINFOjoint_trajectory_controllerGoal reached, success! + 3.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787141358.89436364 seconds ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840243 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840243 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787141359.49666429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (6.08e-07 s). ×2 + 5.44sWARNros2_control_nodeCamera render tick took 0.55 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 + 5.46sWARNros2_control_nodeNo point cloud published (expected every 0.050 s) by: scene_camera (0.57 s); wrist_camera (0.57 s). Behaviors waiting on those points topics will time out.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920354 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920354 ms (missed cycles : 4).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	22 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849297 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849297 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974101 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974101 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989813 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989813 ms (missed cycles : 2).[0m ×2 + 3.95sINFOjoint_trajectory_controllerGoal reached, success! + 3.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787141358.89436364 seconds ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840243 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840243 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787141359.49666429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (6.08e-07 s). ×2 + 5.44sWARNros2_control_nodeCamera render tick took 0.55 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 + 5.46sWARNros2_control_nodeNo point cloud published (expected every 0.050 s) by: scene_camera (0.57 s); wrist_camera (0.57 s). Behaviors waiting on those points topics will time out.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920354 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920354 ms (missed cycles : 4).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	22 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849297 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849297 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974101 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974101 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989813 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989813 ms (missed cycles : 2).[0m ×2 + 3.95sINFOjoint_trajectory_controllerGoal reached, success! + 3.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787141358.89436364 seconds ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840243 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840243 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787141359.49666429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (6.08e-07 s). ×2 + 5.44sWARNros2_control_nodeCamera render tick took 0.55 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 + 5.46sWARNros2_control_nodeNo point cloud published (expected every 0.050 s) by: scene_camera (0.57 s); wrist_camera (0.57 s). Behaviors waiting on those points topics will time out.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920354 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920354 ms (missed cycles : 4).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	22 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849297 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849297 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974101 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974101 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989813 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989813 ms (missed cycles : 2).[0m ×2 + 3.95sINFOjoint_trajectory_controllerGoal reached, success! + 3.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787141358.89436364 seconds ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840243 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840243 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787141359.49666429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (6.08e-07 s). ×2 + 5.44sWARNros2_control_nodeCamera render tick took 0.55 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 + 5.46sWARNros2_control_nodeNo point cloud published (expected every 0.050 s) by: scene_camera (0.57 s); wrist_camera (0.57 s). Behaviors waiting on those points topics will time out.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920354 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920354 ms (missed cycles : 4).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	22 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424947 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849297 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849297 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974101 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974101 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989813 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989813 ms (missed cycles : 2).[0m ×2 + 3.95sINFOjoint_trajectory_controllerGoal reached, success! + 3.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787141358.89436364 seconds ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840243 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840243 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787141359.49666429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (6.08e-07 s). ×2 + 5.44sWARNros2_control_nodeCamera render tick took 0.55 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 + 5.46sWARNros2_control_nodeNo point cloud published (expected every 0.050 s) by: scene_camera (0.57 s); wrist_camera (0.57 s). Behaviors waiting on those points topics will time out.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920354 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920354 ms (missed cycles : 4).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_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	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_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	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 220 info
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134327 ms (missed cycles : 2). + 0.00sINFObt_navigatorActivating + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134327 ms (missed cycles : 2).[0m ×2 + 0.05sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.16sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.16sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.16sINFOwaypoint_followerActivating + 0.16sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.26sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.26sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.26sINFOvelocity_smootherActivating + 0.26sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.37sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 2.98sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 4.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.23sINFOcontroller_managerSuccessfully switched controllers! ×13 + 4.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 4.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 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 + 4.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 6.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.75sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 7.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.38sINFOros2_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 3.249418 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.75sINFOmove_groupOctomap cleared.[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_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 + 5.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2
− skipped	—	addtovector.xml	0.0s	21 warnings · 202 info
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134327 ms (missed cycles : 2). + 0.00sINFObt_navigatorActivating + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134327 ms (missed cycles : 2).[0m ×2 + 0.05sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.16sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.16sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.16sINFOwaypoint_followerActivating + 0.16sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.26sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.26sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.26sINFOvelocity_smootherActivating + 0.26sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.37sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 2.98sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 4.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.23sINFOcontroller_managerSuccessfully switched controllers! ×12 + 4.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 4.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 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 + 4.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 6.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.75sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.75sINFOmove_groupOctomap cleared.[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_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 + 5.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.75sINFOmove_groupOctomap cleared.[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_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 + 5.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249418 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 1.93sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.75sINFOmove_groupOctomap cleared.[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_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 + 5.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOros2_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 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2

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

10 skip

− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_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	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_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	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538628 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 2.67% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426519 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787141067.33264518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787141067.34283900 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024155 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787141067.92411137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787141067.93422198 seconds ×3 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787141068.51121783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787141068.66198111 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803961 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787141069.27597809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787141069.32610679 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787141069.90291357 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701616 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397718 ms (missed cycles : 3).[0m ×2 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2