69
Total objective tests
18
Objectives passed
0
Objectives failed
51
Objectives skipped
22.8s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 32.1s | 12 errors · 310 warnings · 1400 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/2026-08-19-13-20-10-509602-eb8489ecdbc7-9461 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.68sINFOstatic_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' + 13.68sINFOstatic_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' + 13.75sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 13.75sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.75sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.75sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.76sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 13.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 13.77sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.77sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.77sINFOcontroller_managerupdate rate is 600 Hz + 13.77sINFOcontroller_managerOverruns handling is : enabled + 13.77sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.77sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 13.78sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.78sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.79sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.80sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.80sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.80sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.80sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.81sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.81sINFOmap_serverCreating + 13.83sINFOcontroller_serverCreating controller server + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445288 ms (missed cycles : 3). + 13.86sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.87sINFOlocal_costmap.local_costmapCreating Costmap + 13.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.01sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.02sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.02sINFOsmoother_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. + 14.03sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.03sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.05sINFOsmoother_serverCreating smoother server + 14.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.06sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.06sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.06sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.06sINFOros2_control_node-9process started with pid [9519] ×2 + 14.07sINFOmove_group-21process started with pid [9629] ×2 + 14.07sINFOparameter_manager_node-22process started with pid [9630] ×2 + 14.07sINFOwaypoint_manager_node-23process started with pid [9632] ×2 + 14.07sINFOmove_joint_resampler_node-24process started with pid [9636] ×2 + 14.07sINFOmove_end_effector_resampler_node-25process started with pid [9637] ×2 + 14.07sINFOobjective_server_node_main-26process started with pid [9638] ×2 + 14.07sINFOcomponent_container_mt-27process started with pid [9639] ×2 + 14.07sINFOcomponent_container_mt-28process started with pid [9640] ×2 + 14.07sINFOexecute_objective_bridge-29process started with pid [9641] ×2 + 14.07sINFOui_teleop_bridge-30process started with pid [9642] ×2 + 14.07sINFOweb_bridge-31process started with pid [9643] ×2 + 14.07sINFOtf2_web_republisher_node-32process started with pid [9645] ×2 + 14.07sINFOvideo_server-33process started with pid [9646] ×2 + 14.07sINFOweb_bridge_auth_proxy-34process started with pid [9647] ×2 + 14.07sINFOweb_video_auth_proxy-35process started with pid [9648] ×2 + 14.08sINFOplanner_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. + 14.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.12sINFOcomponent_container_isolated-1process started with pid [9511] ×2 + 14.12sINFOcomponent_container_isolated-2process started with pid [9512] ×2 + 14.12sINFOstatic_transform_publisher-3process started with pid [9513] ×2 + 14.12sINFOstatic_transform_publisher-4process started with pid [9514] ×2 + 14.12sINFOodom_qos_relay.py-5process started with pid [9515] ×2 + 14.12sINFOplanner_serverCreating + 14.12sINFOforward_stereo_publisher.py-6process started with pid [9516] ×2 + 14.12sINFOscan_to_scan_filter_chain-7process started with pid [9517] ×2 + 14.12sINFOscan_to_scan_filter_chain-8process started with pid [9518] ×2 + 14.12sINFOros2-10process started with pid [9618] ×2 + 14.12sINFOros2-11process started with pid [9619] ×2 + 14.12sINFOros2-12process started with pid [9620] ×2 + 14.12sINFOros2-13process started with pid [9621] ×2 + 14.12sINFOros2-14process started with pid [9622] ×2 + 14.12sINFOros2-15process started with pid [9623] ×2 + 14.12sINFOros2-16process started with pid [9624] ×2 + 14.12sINFOros2-17process started with pid [9625] ×2 + 14.12sINFOros2-18process started with pid [9626] ×2 + 14.12sINFOros2-19process started with pid [9627] ×2 + 14.12sINFOros2-20process started with pid [9628] ×2 + 14.13sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.14sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.14sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.14sINFOlifecycle_manager_localizationCreating + 14.16sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.17sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.17sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.17sINFOmap_serverConfiguring + 14.18sINFOglobal_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. + 14.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.19sINFOglobal_costmap.global_costmapCreating Costmap + 14.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.22sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.22sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.22sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.22sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.24sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.25sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.26sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.26sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.26sINFOamclConfiguring + 14.26sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.26sINFOmap_serverActivating + 14.27sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.27sINFObehavior_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. + 14.33sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.33sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.33sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.33sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.33sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.33sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.33sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.33sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.33sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.33sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.33sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.33sWARNros2_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 + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445288 ms (missed cycles : 3).[0m ×2 + 14.34sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.34sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.34sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.35sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.35sINFOcontroller_managerReceived robot description from topic. + 14.35sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.35sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.35sINFOrobot_state_publisherRobot initialized + 14.35sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.36sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.38sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.38sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.38sINFOamclActivating + 14.38sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.38sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.38sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.39sINFOamclSubscribed to map_topic: /map + 14.39sINFOamclSubscribed to scan_topic: /scan_merged + 14.39sINFOamclCreated reinitialize_global_localization service + 14.39sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.40sINFOamclCreated request_nomotion_update service + 14.40sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.41sINFOamclA new map was received + 14.41sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.41sINFOamclInitializing particle filter instance + 14.43sINFObt_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. + 14.46sINFObt_navigatorCreating + 14.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.48sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.48sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.48sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.48sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.49sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.52sINFOwaypoint_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. + 14.53sINFOwaypoint_followerCreating + 14.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.55sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.55sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.55sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.56sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.58sINFOvelocity_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. + 14.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.61sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.61sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.64sINFOlifecycle_manager_navigationCreating + 14.66sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.69sWARNlaser_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. + 14.69sWARNlaser_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. + 14.70sWARNscan_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 + 14.70sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.70sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.70sINFOcontroller_serverConfiguring controller interface + 14.70sINFOcontroller_servergetting progress checker plugins.. + 14.70sINFOcontroller_servergetting goal checker plugins.. + 14.70sINFOcontroller_serverController frequency set to 20.0000Hz + 14.70sINFOlocal_costmap.local_costmapConfiguring + 14.72sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.75sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.79sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.79sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.79sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.84sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.412998 seconds + 14.84sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.84sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.84sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.84sINFOmove_groupLoaded robot model in 0.412998 seconds[0m ×2 + 14.85sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.85sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.85sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.86sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.86sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791328 ms (missed cycles : 3). + 14.87sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791328 ms (missed cycles : 3).[0m ×2 + 14.89sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.90sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.90sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.90sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.90sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.90sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.90sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.91sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.91sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.91sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.91sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.91sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.91sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.91sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.91sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.91sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.92sINFOcontroller_serverOptimizer reset ×2 + 14.94sINFOcontroller_serverController Server has FollowPath controllers available. + 14.95sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.95sINFOsmoother_serverConfiguring smoother server + 14.96sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.96sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.97sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.98sINFOplanner_serverConfiguring + 14.98sINFOglobal_costmap.global_costmapConfiguring + 14.99sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.99sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.99sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.99sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.99sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.99sINFOamclParticle filter initialization completed + 14.99sINFOamclInitializing particles from estimated pose and covariance + 15.00sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.01sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.01sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.02sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.02sINFOvideo_server2026/08/19 13:20:28 INF MediaMTX v1.19.3, linux, amd64 ×2 + 15.02sINFOvideo_server2026/08/19 13:20:28 INF configuration loaded from /tmp/moveit-webrtc-4luh9jdf/mediamtx.yml ×2 + 15.03sINFOvideo_server2026/08/19 13:20:28 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 15.04sINFOvideo_server2026/08/19 13:20:28 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 15.05sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.05sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.05sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.06sINFOwaypoint_manager_nodeLoaded robot model in 0.377968 seconds[0m ×2 + 15.07sINFOplanner_serverPlanner Server has GridBased planners available. + 15.07sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.07sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.08sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.08sINFObehavior_serverConfiguring + 15.08sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.08sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.08sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.10sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.11sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.11sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.12sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.13sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.15sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.15sINFObehavior_serverConfiguring spin + 15.16sINFObehavior_serverConfiguring backup + 15.17sINFObehavior_serverConfiguring drive_on_heading + 15.19sINFObehavior_serverConfiguring assisted_teleop + 15.21sINFObehavior_serverConfiguring wait + 15.22sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.22sINFObt_navigatorConfiguring + 15.24sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.25sWARNbt_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 + 15.54sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.63sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 15.63sINFOwaypoint_followerConfiguring + 15.66sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 15.66sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 15.66sINFOvelocity_smootherConfiguring velocity smoother + 15.67sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 15.67sINFOcontroller_serverActivating + 15.67sINFOlocal_costmap.local_costmapActivating + 15.67sINFOlocal_costmap.local_costmapChecking transform + 15.67sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×4 + 15.80sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.80sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.81sWARNmove_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. + 15.81sWARNmove_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 + 15.81sWARNmove_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. + 15.81sWARNmove_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 + 15.82sWARNmove_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. + 15.82sWARNmove_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. + 15.82sWARNmove_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 + 15.82sWARNmove_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 + 15.83sWARNmove_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. + 15.83sWARNmove_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. + 15.83sWARNmove_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 + 15.83sWARNmove_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. + 15.84sWARNmove_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. + 15.84sWARNmove_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 + 15.84sWARNmove_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 + 15.84sWARNmove_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 + 15.84sWARNmove_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. + 15.84sWARNmove_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. + 15.84sWARNmove_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 + 15.84sWARNmove_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 + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836352 ms (missed cycles : 2). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836352 ms (missed cycles : 2).[0m ×2 + 16.08sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.08sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.08sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.09sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.16sWARNwaypoint_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. + 16.16sWARNwaypoint_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. + 16.16sWARNwaypoint_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 + 16.16sINFOros2_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 + 16.16sWARNwaypoint_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. + 16.16sWARNwaypoint_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. + 16.17sWARNwaypoint_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. + 16.17sWARNwaypoint_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. + 16.17sWARNwaypoint_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. + 16.17sWARNwaypoint_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. + 16.17sWARNwaypoint_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. + 16.17sWARNwaypoint_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 + 16.17sWARNwaypoint_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. + 16.17sWARNwaypoint_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 + 16.17sWARNwaypoint_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 + 16.17sWARNwaypoint_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 + 16.17sWARNwaypoint_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 + 16.18sWARNwaypoint_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. + 16.18sWARNwaypoint_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. + 16.18sINFOros2_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 + 16.18sWARNwaypoint_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. + 16.18sWARNwaypoint_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. + 16.18sWARNwaypoint_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. + 16.18sWARNwaypoint_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. + 16.19sWARNwaypoint_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 + 16.19sWARNwaypoint_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 + 16.19sWARNwaypoint_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 + 16.19sWARNwaypoint_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 + 16.19sWARNwaypoint_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 + 16.19sWARNwaypoint_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 + 16.19sWARNwaypoint_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 + 16.19sWARNwaypoint_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 + 16.19sWARNwaypoint_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 + 16.19sWARNwaypoint_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. + 16.19sWARNwaypoint_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 + 16.19sWARNwaypoint_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. + 16.20sWARNwaypoint_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. + 16.20sWARNwaypoint_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. + 16.20sWARNwaypoint_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. + 16.21sWARNwaypoint_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. + 16.21sWARNwaypoint_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 + 16.21sWARNwaypoint_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 + 16.21sWARNwaypoint_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 + 16.21sWARNwaypoint_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 + 16.21sWARNwaypoint_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 + 16.21sWARNwaypoint_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 + 16.21sWARNwaypoint_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. + 16.21sWARNwaypoint_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. + 16.21sWARNwaypoint_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 + 16.21sWARNwaypoint_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. + 16.21sWARNwaypoint_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. + 16.22sWARNwaypoint_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. + 16.22sWARNwaypoint_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. + 16.22sWARNwaypoint_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 + 16.22sWARNwaypoint_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 + 16.22sWARNwaypoint_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 + 16.22sWARNwaypoint_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 + 16.22sWARNwaypoint_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 + 16.32sINFOmove_group[2026-08-19 13:20:30.226] [moveit_pro_license] [info] ×2 + 16.32sINFOmove_group************************************************* ×4 + 16.32sINFOmove_group* MoveIt Pro License ×2 + 16.32sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.58sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 16.58sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.60sINFOwaypoint_manager_node[2026-08-19 13:20:30.501] [moveit_pro_license] [info] ×2 + 16.60sINFOwaypoint_manager_node************************************************* ×4 + 16.60sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.60sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.87sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 16.87sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 16.87sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 16.87sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 16.87sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 16.87sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 16.87sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 16.87sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 16.87sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.87sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 16.87sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 16.88sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 16.88sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 16.88sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 16.88sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 16.88sINFOmove_groupStarting planning scene monitor[0m ×2 + 16.88sINFOmove_groupListening to '/planning_scene'[0m ×2 + 16.88sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 16.89sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 16.89sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 16.89sINFOmove_groupListening to 'collision_object'[0m ×2 + 16.89sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.12sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.12sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.13sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.33sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.33sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.33sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.33sWARNros2_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 + 17.33sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.33sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 17.33sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 17.33sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 17.33sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 17.33sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 17.33sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 17.33sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.33sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 17.33sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 17.33sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.33sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 17.33sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.33sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.33sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.34sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 17.34sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.34sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.34sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 17.34sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 17.34sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 17.34sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 17.34sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 17.34sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 17.34sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.34sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.34sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 17.34sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.34sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.34sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.34sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.34sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.34sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906473 ms (missed cycles : 2). + 17.34sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.34sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.34sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.34sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.34sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.34sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.34sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.34sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.34sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.34sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.34sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906473 ms (missed cycles : 2).[0m ×2 + 17.36sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.36sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.36sWARNros2_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 + 17.58sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 17.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 17.58sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 17.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 17.59sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 17.59sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 + 17.59sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 [0m ×2 + 17.62sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 17.62sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 17.63sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 17.63sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 17.63sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 17.63sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 17.64sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 17.64sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 17.64sINFOcontroller_managerSuccessfully switched controllers! ×19 + 17.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 17.64sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 17.65sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.67sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.67sINFOlocal_costmap.local_costmapstart + 17.67sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 17.70sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 17.70sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 17.77sWARNcontroller_serverParameter controller_server.verbose not found + 17.77sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 17.78sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.78sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 5.809ms + 17.88sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 17.88sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 17.88sINFOsmoother_serverActivating + 17.88sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 17.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 17.96sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 17.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.96sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.97sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 17.98sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 17.98sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 17.98sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 17.98sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 17.98sINFOros2-12process has finished cleanly [pid 9620] ×2 + 17.99sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 17.99sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 17.99sINFOplanner_serverActivating + 17.99sINFOglobal_costmap.global_costmapActivating + 17.99sINFOglobal_costmap.global_costmapChecking transform + 17.99sINFOglobal_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 1787145631.854576 but the earliest data is at time 1787145632.558768, when looking up transform from frame [ridgeback_base_link] to frame [map] + 18.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.06sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.06sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.06sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.06sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.08sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.08sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.08sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.08sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.08sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.08sINFOstreaming_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) + 18.08sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.08sINFOcomponent_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 + 18.08sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.09sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.10sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 + 18.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 [0m ×2 + 18.16sINFOobjective_server_node[2026-08-19 13:20:32.062] [moveit_pro_license] [info] ×2 + 18.16sINFOobjective_server_node************************************************* ×4 + 18.16sINFOobjective_server_node* MoveIt Pro License ×2 + 18.16sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.18sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 18.18sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 18.18sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 18.19sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 18.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.26sINFOobjective_server_nodeLoaded robot model in 0.0320279 seconds[0m ×2 + 18.26sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.26sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.30sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.32sINFOcomponent_container_mtLoaded robot model in 0.342909 seconds[0m ×2 + 18.32sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.32sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.33sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.33sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.33sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.34sINFOstreaming_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) + 18.34sINFOcomponent_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 + 18.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296543 ms (missed cycles : 2). + 18.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296543 ms (missed cycles : 2).[0m ×2 + 18.49sINFOglobal_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 1787145632.364637 but the earliest data is at time 1787145632.558768, when looking up transform from frame [ridgeback_base_link] to frame [map] + 18.57sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787145631.359 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 18.67sINFOros2_control_node[2026-08-19 13:20:32.577] [info] Controller state will be published at 20 Hz. ×2 + 18.67sINFOros2_control_node[2026-08-19 13:20:32.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 18.78sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.78sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.78sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.78sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.78sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.78sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.78sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.78sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.78sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.78sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.78sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.78sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.78sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.78sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.79sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.79sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.79sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.79sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.79sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.79sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.79sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.79sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.81sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.81sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.81sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.81sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.86sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 18.86sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.87sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.87sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.87sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.87sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.87sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.87sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.87sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.91sINFOmove_groupMoveGroup debug mode is ON + 18.91sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.91sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.97sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.97sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.97sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.97sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.97sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.98sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.98sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.99sINFOglobal_costmap.global_costmapstart + 19.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 19.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 19.01sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 19.01sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 19.02sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 + 19.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 [0m ×2 + 19.03sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.03sINFOros2-19process has finished cleanly [pid 9627] ×2 + 19.07sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 19.07sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.08sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 19.08sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 19.08sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+ 19.09sINFOmove_group ×8 + 19.09sINFOmove_group******************************************************** ×4 + 19.09sINFOmove_group* MoveGroup using: ×2 + 19.09sINFOmove_group* - apply_planning_scene_service ×2 + 19.09sINFOmove_group* - clear_octomap_service ×2 + 19.09sINFOmove_group* - get_group_urdf ×2 + 19.09sINFOmove_group* - load_geometry_from_file ×2 + 19.09sINFOmove_group* - get_planning_scene_service ×2 + 19.09sINFOmove_group* - kinematics_service ×2 + 19.09sINFOmove_group* - save_geometry_to_file ×2 + 19.09sINFOmove_group* - GetPlanningGroups ×2 + 19.09sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.09sINFOmove_group[0m ×2 + 19.09sINFOmove_group[92mYou can start planning now![0m ×2 + 19.10sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 19.10sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 19.10sINFOcomponent_container_mt[2026-08-19 13:20:33.006] [moveit_pro_license] [info] ×2 + 19.10sINFOcomponent_container_mt************************************************* ×4 + 19.10sINFOplatform_velocity_controllerconfigure successful + 19.10sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.10sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.10sINFOros2_control_nodeconfigure successful[0m ×6 + 19.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 19.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 19.11sWARNros2_control_nodeCamera render tick took 0.75 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 + 19.11sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 19.11sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 19.53sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.53sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.54sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953207 ms (missed cycles : 2). + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953207 ms (missed cycles : 2).[0m ×2 + 19.59sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 19.59sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 19.59sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 19.59sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 19.61sINFOros2-13process has finished cleanly [pid 9621] ×2 + 19.66sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 + 19.66sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 [0m ×2 + 19.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.71sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 19.72sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 19.72sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 19.72sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 19.72sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 20.04sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 20.04sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 20.10sINFOros2_control_node[2026-08-19 13:20:34.009] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 20.11sINFOros2_control_node[2026-08-19 13:20:34.011] [info] Controller state will be published at 10 Hz. ×2 + 20.11sINFOros2_control_node[2026-08-19 13:20:34.012] [info] VelocityForceController 'on_configure' succeeded. ×2 + 20.15sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 20.15sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 20.15sINFObehavior_serverActivating + 20.15sINFObehavior_serverActivating spin + 20.15sINFObehavior_serverActivating backup + 20.15sINFObehavior_serverActivating drive_on_heading + 20.15sINFObehavior_serverActivating assisted_teleop + 20.15sINFObehavior_serverActivating wait + 20.15sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 20.25sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 20.25sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 20.25sINFObt_navigatorActivating + 20.30sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 20.41sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 20.41sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 20.41sINFOwaypoint_followerActivating + 20.41sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 20.46sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 20.46sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 20.46sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 + 20.46sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 20.46sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 20.46sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 [0m ×2 + 20.46sINFOros2-18process has finished cleanly [pid 9626] ×2 + 20.51sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 20.51sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 20.51sINFOvelocity_smootherActivating + 20.51sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 20.54sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 20.54sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 20.54sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 20.55sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 20.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915119 ms (missed cycles : 2). + 20.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915119 ms (missed cycles : 2).[0m ×2 + 20.62sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 20.62sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 20.62sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 20.84sWARNobjective_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 + 20.87sINFOros2_control_node[2026-08-19 13:20:34.776] [info] Controller state will be published at 20 Hz. ×2 + 20.87sINFOros2_control_node[2026-08-19 13:20:34.776] [info] JointVelocityController 'on_configure' succeeded. ×2 + 21.15sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.21sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 21.21sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 21.21sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 21.21sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 21.21sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 + 21.22sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 [0m ×2 + 21.24sINFOros2-20process has finished cleanly [pid 9628] ×2 + 21.27sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 21.27sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 21.27sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 21.28sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 21.28sINFOforce_torque_sensor_broadcasterconfigure successful + 21.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 21.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 21.29sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 21.29sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 21.62sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 21.62sINFOcontroller_managerLoading controller 'vacuum_gripper' + 21.63sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 21.63sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 21.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 + 21.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 [0m ×2 + 21.63sINFOros2-10process has finished cleanly [pid 9618] ×2 + 21.65sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 21.65sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831226 ms (missed cycles : 2). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831226 ms (missed cycles : 2).[0m ×2 + 21.69sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 21.69sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 21.69sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 21.69sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 21.69sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 21.69sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 21.69sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 21.69sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 21.70sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 21.70sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 22.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 22.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 22.02sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 + 22.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 22.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 22.02sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 [0m ×2 + 22.04sINFOros2-14process has finished cleanly [pid 9622] ×2 + 22.08sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 22.08sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 22.09sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 22.09sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 22.45sINFOros2_control_node[2026-08-19 13:20:36.354] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 22.45sINFOros2_control_node[2026-08-19 13:20:36.355] [info] Controller state will be published at 10 Hz. ×2 + 22.45sINFOros2_control_node[2026-08-19 13:20:36.356] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070518 ms (missed cycles : 2). + 22.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070518 ms (missed cycles : 2).[0m ×2 + 22.80sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 22.80sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 22.80sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 + 22.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 22.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 22.81sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 [0m ×2 + 22.82sINFOros2-17process has finished cleanly [pid 9625] ×2 + 22.86sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 22.86sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 22.86sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 22.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 22.87sINFOplatform_velocity_controller_nav2configure successful + 23.30sINFOros2-15process has finished cleanly [pid 9623] ×2 + 23.31sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 23.31sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 23.31sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 23.31sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 23.32sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 + 23.32sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 [0m ×2 + 23.40sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 23.41sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 23.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 23.41sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 23.41sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 23.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 23.41sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 23.41sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 23.41sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 23.41sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 23.41sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 23.41sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 23.41sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 23.42sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 23.42sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 23.71sINFOros2-16process has finished cleanly [pid 9624] ×2 + 23.71sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 23.71sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 23.71sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 23.71sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 23.71sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 + 23.71sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ay1lln5 --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_fsw1842f --params-file /tmp/launch_params_vzmll313 [0m ×2 + 23.78sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 23.78sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 23.78sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 23.78sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 23.78sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 23.78sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 23.79sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 23.79sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600029 ms (missed cycles : 3). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600029 ms (missed cycles : 3).[0m ×2 + 24.05sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 24.05sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 24.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 24.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 24.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 24.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 24.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.12sINFOros2-11process has finished cleanly [pid 9619] ×2 + 24.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681485 ms (missed cycles : 2). + 24.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681485 ms (missed cycles : 2).[0m ×2 + 26.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2). + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2).[0m ×2 + 27.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 27.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 27.37sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 28.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 28.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 29.27sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.28sINFOmove_groupClearing octomap...[0m ×2 + 29.28sINFOmove_groupOctomap cleared.[0m ×2 + 29.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 29.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 29.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 29.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 30.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 30.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 30.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 31.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.24sINFOobjective_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 + 31.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 31.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 31.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 31.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 31.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 31.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 75.7s | 3 errors · 235 warnings · 244 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.624ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230579 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230579 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.050ms + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.512ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094027 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094027 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.912ms + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.296ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833715 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833715 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.925ms + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.269ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365290 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365290 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.190ms + 4.00sINFOamclParticle filter update iteration stats: 3669 particles 723 points - 5.803ms + 4.19sINFOobjective_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 + 4.19sINFOjoint_trajectory_controllerGot request to cancel goal + 4.19sINFOjoint_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 + 4.22sERRORobjective_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: 1787145853.81267738 seconds ×3 + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.29sWARNlocal_costmap.local_costmapSensor origin at (-0.62, 3.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.29sWARNlocal_costmap.local_costmapSensor origin at (-1.52, 3.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.139ms + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123184 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123184 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787145854.39909267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080716 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080716 ms (missed cycles : 4).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298588 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298588 ms (missed cycles : 3).[0m ×2 + 7.16sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.22sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.22sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.22sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.22sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660450 ms (missed cycles : 3). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660450 ms (missed cycles : 3).[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367056 ms (missed cycles : 3). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367056 ms (missed cycles : 3).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.457ms + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.462ms + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192520 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192520 ms (missed cycles : 2).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.351ms + 10.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.483ms + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712746 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712746 ms (missed cycles : 2).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.281ms + 11.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.492ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961514 ms (missed cycles : 3). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961514 ms (missed cycles : 3).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 4353 particles 723 points - 5.639ms + 12.69sINFOamclParticle filter update iteration stats: 2586 particles 723 points - 3.970ms + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903680 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903680 ms (missed cycles : 2).[0m ×2 + 13.19sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 3.147ms + 13.69sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 1.725ms + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233899 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233899 ms (missed cycles : 2).[0m ×2 + 14.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.178ms ×2 + 14.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.086ms + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633783 ms (missed cycles : 2). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633783 ms (missed cycles : 2).[0m ×2 + 15.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765697 ms (missed cycles : 3). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765697 ms (missed cycles : 3).[0m ×2 + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.676ms + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms ×2 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425105 ms (missed cycles : 3). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425105 ms (missed cycles : 3).[0m ×2 + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms ×2 + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343491 ms (missed cycles : 4). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343491 ms (missed cycles : 4).[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.263ms + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms ×2 + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233596 ms (missed cycles : 4). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233596 ms (missed cycles : 4).[0m ×2 + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms ×2 + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922509 ms (missed cycles : 2). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922509 ms (missed cycles : 2).[0m ×2 + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.315ms + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 21.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078382 ms (missed cycles : 3). + 21.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078382 ms (missed cycles : 3).[0m ×2 + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 22.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466101 ms (missed cycles : 3). + 22.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466101 ms (missed cycles : 3).[0m ×2 + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720569 ms (missed cycles : 3). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720569 ms (missed cycles : 3).[0m ×2 + 23.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.221ms + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.256751 ms (missed cycles : 5). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.256751 ms (missed cycles : 5).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 25.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498658 ms (missed cycles : 3). + 25.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498658 ms (missed cycles : 3).[0m ×2 + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.253ms + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105920 ms (missed cycles : 3). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105920 ms (missed cycles : 3).[0m ×2 + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470751 ms (missed cycles : 3). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470751 ms (missed cycles : 3).[0m ×2 + 28.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 28.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442151 ms (missed cycles : 3). + 28.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442151 ms (missed cycles : 3).[0m ×2 + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 29.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844192 ms (missed cycles : 4). + 29.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844192 ms (missed cycles : 4).[0m ×2 + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.154ms + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 31.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308096 ms (missed cycles : 2). + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308096 ms (missed cycles : 2).[0m ×2 + 31.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.231ms + 31.71sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300556 ms (missed cycles : 4). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300556 ms (missed cycles : 4).[0m ×2 + 32.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 33.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012873 ms (missed cycles : 4). + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012873 ms (missed cycles : 4).[0m ×2 + 33.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 33.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 34.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363006 ms (missed cycles : 3). + 34.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363006 ms (missed cycles : 3).[0m ×2 + 34.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 35.59sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.59sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.285553 ms (missed cycles : 4). + 35.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.285553 ms (missed cycles : 4).[0m ×2 + 35.98sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338527 ms (missed cycles : 3). + 36.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338527 ms (missed cycles : 3).[0m ×2 + 36.82sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 37.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711412 ms (missed cycles : 2). + 37.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711412 ms (missed cycles : 2).[0m ×2 + 38.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529763 ms (missed cycles : 3). + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529763 ms (missed cycles : 3).[0m ×2 + 39.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 39.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636009 ms (missed cycles : 2). + 39.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636009 ms (missed cycles : 2).[0m ×2 + 40.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 40.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 40.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038558 ms (missed cycles : 2). + 40.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038558 ms (missed cycles : 2).[0m ×2 + 41.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 41.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 41.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266099 ms (missed cycles : 3). + 42.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266099 ms (missed cycles : 3).[0m ×2 + 42.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.230ms + 43.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599147 ms (missed cycles : 2). + 43.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599147 ms (missed cycles : 2).[0m ×2 + 44.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018114 ms (missed cycles : 3). + 44.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018114 ms (missed cycles : 3).[0m ×2 + 45.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139993 ms (missed cycles : 3). + 45.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139993 ms (missed cycles : 3).[0m ×2 + 45.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 46.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630853 ms (missed cycles : 3). + 46.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630853 ms (missed cycles : 3).[0m ×2 + 46.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 47.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093618 ms (missed cycles : 3). + 47.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093618 ms (missed cycles : 3).[0m ×2 + 47.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 48.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911379 ms (missed cycles : 3). + 48.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911379 ms (missed cycles : 3).[0m ×2 + 48.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 49.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.202527 ms (missed cycles : 4). + 49.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.202527 ms (missed cycles : 4).[0m ×2 + 49.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 50.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007862 ms (missed cycles : 4). + 50.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007862 ms (missed cycles : 4).[0m ×2 + 50.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 51.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746447 ms (missed cycles : 4). + 51.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746447 ms (missed cycles : 4).[0m ×2 + 51.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 52.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069961 ms (missed cycles : 4). + 52.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069961 ms (missed cycles : 4).[0m ×2 + 52.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 53.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850078 ms (missed cycles : 2). + 53.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850078 ms (missed cycles : 2).[0m ×2 + 54.05sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 54.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947885 ms (missed cycles : 2). + 54.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947885 ms (missed cycles : 2).[0m ×2 + 55.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 55.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017752 ms (missed cycles : 4). + 55.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017752 ms (missed cycles : 4).[0m ×2 + 56.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659013 ms (missed cycles : 3). + 56.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659013 ms (missed cycles : 3).[0m ×2 + 57.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773560 ms (missed cycles : 2). + 57.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773560 ms (missed cycles : 2).[0m ×2 + 58.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 58.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136795 ms (missed cycles : 4). + 58.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136795 ms (missed cycles : 4).[0m ×2 + 59.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 59.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 60.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135513 ms (missed cycles : 3). + 60.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135513 ms (missed cycles : 3).[0m ×2 + 61.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689656 ms (missed cycles : 3). + 61.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689656 ms (missed cycles : 3).[0m ×2 + 61.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 61.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 62.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446287 ms (missed cycles : 2). + 62.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446287 ms (missed cycles : 2).[0m ×2 + 62.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 63.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738617 ms (missed cycles : 2). + 63.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738617 ms (missed cycles : 2).[0m ×2 + 63.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 64.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993655 ms (missed cycles : 3). + 64.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993655 ms (missed cycles : 3).[0m ×2 + 64.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.177ms + 65.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080394 ms (missed cycles : 3). + 65.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080394 ms (missed cycles : 3).[0m ×2 + 65.99sINFOobjective_server_nodePlanning for 39 path waypoints. ×3 + 66.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175521 ms (missed cycles : 3). + 66.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175521 ms (missed cycles : 3).[0m ×2 + 67.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 67.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045327 ms (missed cycles : 3). + 67.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045327 ms (missed cycles : 3).[0m ×2 + 68.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626747 ms (missed cycles : 3). + 68.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626747 ms (missed cycles : 3).[0m ×2 + 69.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546340 ms (missed cycles : 3). + 69.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546340 ms (missed cycles : 3).[0m ×2 + 70.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 71.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909073 ms (missed cycles : 3). + 71.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909073 ms (missed cycles : 3).[0m ×2 + 71.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 72.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329508 ms (missed cycles : 2). + 72.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329508 ms (missed cycles : 2).[0m ×2 + 73.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.072ms + 73.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483878 ms (missed cycles : 4). + 73.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483878 ms (missed cycles : 4).[0m ×2 + 73.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 74.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979131 ms (missed cycles : 2). + 74.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979131 ms (missed cycles : 2).[0m ×2 + 75.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.235ms + 75.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189164 ms (missed cycles : 3). + 75.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189164 ms (missed cycles : 3).[0m ×2 + 75.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 76.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258333 ms (missed cycles : 3). + 76.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258333 ms (missed cycles : 3).[0m ×2 + 77.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165124 ms (missed cycles : 3). + 77.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165124 ms (missed cycles : 3).[0m ×2 + 78.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 78.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996086 ms (missed cycles : 3). + 78.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996086 ms (missed cycles : 3).[0m ×2 + 79.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701413 ms (missed cycles : 3). + 79.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701413 ms (missed cycles : 3).[0m ×2 + 79.96sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787145929.54977584 seconds ×3 + 80.09sWARNlocal_costmap.local_costmapSensor origin at (-1.80, 11.65) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 80.09sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 11.26) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 80.09sINFOamclParticle filter update iteration stats: 3409 particles 723 points - 2.968ms + 80.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.967ms + 80.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787145930.12818313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 80.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189911 ms (missed cycles : 3). + 80.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189911 ms (missed cycles : 3).[0m ×2 + 81.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402726 ms (missed cycles : 3). + 81.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402726 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.1s | 183 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082745 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082745 ms (missed cycles : 3).[0m ×2 + 0.06sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.06sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787145688.75278807 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.39sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 1.905ms + 0.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787145689.34602165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480354 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480354 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeFound path in 0 iterations (3.3442e-05 s). ×2 + 1.85sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.87sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.87sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.88sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.88sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236577 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236577 ms (missed cycles : 3).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866736 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866736 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787145692.26614881 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787145692.85158181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221501 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221501 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081462 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081462 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825322 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825322 ms (missed cycles : 3).[0m ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332309 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332309 ms (missed cycles : 2).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185880 ms (missed cycles : 3). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185880 ms (missed cycles : 3).[0m ×2 + 8.48sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 1.731ms + 9.09sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 2.278ms + 9.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164750 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164750 ms (missed cycles : 2).[0m ×2 + 10.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.150ms + 10.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451606 ms (missed cycles : 3). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451606 ms (missed cycles : 3).[0m ×2 + 11.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 11.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087734 ms (missed cycles : 4). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087734 ms (missed cycles : 4).[0m ×2 + 12.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 12.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 12.59sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839645 ms (missed cycles : 3). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839645 ms (missed cycles : 3).[0m ×2 + 13.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087677 ms (missed cycles : 3). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087677 ms (missed cycles : 3).[0m ×2 + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 14.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184238 ms (missed cycles : 4). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184238 ms (missed cycles : 4).[0m ×2 + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944234 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944234 ms (missed cycles : 2).[0m ×2 + 16.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068860 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068860 ms (missed cycles : 2).[0m ×2 + 17.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 18.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms ×2 + 18.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 18.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.236794 ms (missed cycles : 6). + 18.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.236794 ms (missed cycles : 6).[0m ×2 + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 19.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411399 ms (missed cycles : 3). + 19.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411399 ms (missed cycles : 3).[0m ×2 + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 20.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006190 ms (missed cycles : 3). + 20.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006190 ms (missed cycles : 3).[0m ×2 + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803009 ms (missed cycles : 3). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803009 ms (missed cycles : 3).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 22.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.662941 ms (missed cycles : 6). + 22.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.662941 ms (missed cycles : 6).[0m ×2 + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 23.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750172 ms (missed cycles : 3). + 23.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750172 ms (missed cycles : 3).[0m ×2 + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 24.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347991 ms (missed cycles : 4). + 24.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347991 ms (missed cycles : 4).[0m ×2 + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 26.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167149 ms (missed cycles : 4). + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167149 ms (missed cycles : 4).[0m ×2 + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms ×2 + 27.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103338 ms (missed cycles : 4). + 27.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103338 ms (missed cycles : 4).[0m ×2 + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 28.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349790 ms (missed cycles : 3). + 28.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349790 ms (missed cycles : 3).[0m ×2 + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014795 ms (missed cycles : 2). + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014795 ms (missed cycles : 2).[0m ×2 + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 30.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 30.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399930 ms (missed cycles : 3). + 30.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399930 ms (missed cycles : 3).[0m ×2 + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 31.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 31.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.859131 ms (missed cycles : 5). + 31.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.859131 ms (missed cycles : 5).[0m ×2 + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 32.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378772 ms (missed cycles : 2). + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378772 ms (missed cycles : 2).[0m ×2 + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 33.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 33.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356469 ms (missed cycles : 3). + 33.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356469 ms (missed cycles : 3).[0m ×2 + 34.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 34.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485745 ms (missed cycles : 4). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485745 ms (missed cycles : 4).[0m ×2 + 35.03sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462448 ms (missed cycles : 3). + 35.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462448 ms (missed cycles : 3).[0m ×2 + 36.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567526 ms (missed cycles : 3). + 36.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567526 ms (missed cycles : 3).[0m ×2 + 37.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977741 ms (missed cycles : 3). + 37.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977741 ms (missed cycles : 3).[0m ×2 + 38.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075911 ms (missed cycles : 3). + 38.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075911 ms (missed cycles : 3).[0m ×2 + 40.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989629 ms (missed cycles : 2). + 40.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989629 ms (missed cycles : 2).[0m ×2 + 41.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 41.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598104 ms (missed cycles : 2). + 41.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598104 ms (missed cycles : 2).[0m ×2 + 42.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.244720 ms (missed cycles : 4). + 42.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.244720 ms (missed cycles : 4).[0m ×2 + 43.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187362 ms (missed cycles : 3). + 43.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187362 ms (missed cycles : 3).[0m ×2 + 44.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073454 ms (missed cycles : 2). + 44.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073454 ms (missed cycles : 2).[0m ×2 + 45.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002168 ms (missed cycles : 3). + 45.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002168 ms (missed cycles : 3).[0m ×2 + 46.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093404 ms (missed cycles : 4). + 46.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093404 ms (missed cycles : 4).[0m ×2 + 47.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965158 ms (missed cycles : 2). + 47.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965158 ms (missed cycles : 2).[0m ×2 + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536874 ms (missed cycles : 4). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536874 ms (missed cycles : 4).[0m ×2 + 49.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 49.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403216 ms (missed cycles : 4). + 49.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403216 ms (missed cycles : 4).[0m ×2 + 50.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047062 ms (missed cycles : 3). + 50.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047062 ms (missed cycles : 3).[0m ×2 + 51.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 52.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835522 ms (missed cycles : 4). + 52.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835522 ms (missed cycles : 4).[0m ×2 + 53.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858163 ms (missed cycles : 3). + 53.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858163 ms (missed cycles : 3).[0m ×2 + 54.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364070 ms (missed cycles : 2). + 54.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364070 ms (missed cycles : 2).[0m ×2 + 55.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394829 ms (missed cycles : 2). + 55.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394829 ms (missed cycles : 2).[0m ×2 + 55.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 56.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279386 ms (missed cycles : 2). + 56.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279386 ms (missed cycles : 2).[0m ×2 + 57.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167831 ms (missed cycles : 4). + 57.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167831 ms (missed cycles : 4).[0m ×2 + 58.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609053 ms (missed cycles : 2). + 58.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609053 ms (missed cycles : 2).[0m ×2 + 59.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758131 ms (missed cycles : 3). + 59.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758131 ms (missed cycles : 3).[0m ×2 + 60.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792736 ms (missed cycles : 4). + 60.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792736 ms (missed cycles : 4).[0m ×2 + 60.67sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787145749.36170650 seconds ×3 + 60.79sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.79sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.162ms + 61.27sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787145749.95697141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765462 ms (missed cycles : 2). + 61.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765462 ms (missed cycles : 2).[0m ×2 + 61.68sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 61.88sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.21sWARNglobal_costmap.global_costmapSensor origin at (2.29, -3.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 62.21sWARNglobal_costmap.global_costmapSensor origin at (1.82, -3.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 62.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731170 ms (missed cycles : 3). + 62.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731170 ms (missed cycles : 3).[0m ×2 + 63.21sWARNglobal_costmap.global_costmapSensor origin at (2.30, -3.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.0s | 181 warnings · 175 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511243 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511243 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000111 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000111 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057152 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057152 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656497 ms (missed cycles : 3). + 3.35sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656497 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787145936.02831221 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.00sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787145936.62603593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770598 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770598 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599554 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599554 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.31sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.31sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676519 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676519 ms (missed cycles : 2).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383236 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383236 ms (missed cycles : 2).[0m ×2 + 8.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.997ms + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875417 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875417 ms (missed cycles : 2).[0m ×2 + 8.68sINFOros2_control_nodeMuJoCo sim: 0.96% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.208ms + 9.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.000ms + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493606 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493606 ms (missed cycles : 2).[0m ×2 + 9.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.197ms + 10.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.254ms + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128329 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128329 ms (missed cycles : 3).[0m ×2 + 10.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.832ms + 11.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.728ms + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631026 ms (missed cycles : 3). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631026 ms (missed cycles : 3).[0m ×2 + 11.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.051ms + 12.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.724ms + 12.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706408 ms (missed cycles : 3). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706408 ms (missed cycles : 3).[0m ×2 + 13.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.424ms + 13.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.247ms + 14.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.781ms + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049094 ms (missed cycles : 3). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049094 ms (missed cycles : 3).[0m ×2 + 14.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.406ms + 15.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.228ms + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808944 ms (missed cycles : 2). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808944 ms (missed cycles : 2).[0m ×2 + 15.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.716ms + 16.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.901ms + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054592 ms (missed cycles : 4). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054592 ms (missed cycles : 4).[0m ×2 + 16.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.791ms + 17.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.204ms + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135843 ms (missed cycles : 5). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135843 ms (missed cycles : 5).[0m ×2 + 17.76sINFOamclParticle filter update iteration stats: 4187 particles 723 points - 5.461ms + 18.26sINFOamclParticle filter update iteration stats: 2512 particles 723 points - 4.240ms + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347010 ms (missed cycles : 3). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347010 ms (missed cycles : 3).[0m ×2 + 18.76sINFOamclParticle filter update iteration stats: 1417 particles 723 points - 2.715ms + 19.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515111 ms (missed cycles : 3). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515111 ms (missed cycles : 3).[0m ×2 + 19.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 20.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.339ms + 20.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922823 ms (missed cycles : 3). + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922823 ms (missed cycles : 3).[0m ×2 + 20.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 21.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695592 ms (missed cycles : 2). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695592 ms (missed cycles : 2).[0m ×2 + 21.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 22.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 22.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580713 ms (missed cycles : 3). + 22.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580713 ms (missed cycles : 3).[0m ×2 + 22.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 23.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 23.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795849 ms (missed cycles : 2). + 23.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795849 ms (missed cycles : 2).[0m ×2 + 23.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 24.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 24.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms ×2 + 25.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021739 ms (missed cycles : 4). + 25.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021739 ms (missed cycles : 4).[0m ×2 + 25.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 25.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 26.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170356 ms (missed cycles : 2). + 26.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170356 ms (missed cycles : 2).[0m ×2 + 26.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 27.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580489 ms (missed cycles : 4). + 27.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580489 ms (missed cycles : 4).[0m ×2 + 27.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.202ms ×2 + 27.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364699 ms (missed cycles : 3). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364699 ms (missed cycles : 3).[0m ×2 + 28.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 28.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.208ms + 29.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070644 ms (missed cycles : 3). + 29.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070644 ms (missed cycles : 3).[0m ×2 + 29.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 29.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.139ms + 30.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 30.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257356 ms (missed cycles : 4). + 30.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257356 ms (missed cycles : 4).[0m ×2 + 30.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.198ms + 31.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.169ms + 31.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572480 ms (missed cycles : 4). + 31.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572480 ms (missed cycles : 4).[0m ×2 + 31.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 32.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.236ms + 32.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294652 ms (missed cycles : 3). + 32.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294652 ms (missed cycles : 3).[0m ×2 + 32.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 33.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 33.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260800 ms (missed cycles : 4). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260800 ms (missed cycles : 4).[0m ×2 + 34.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932030 ms (missed cycles : 3). + 34.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932030 ms (missed cycles : 3).[0m ×2 + 34.73sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978765 ms (missed cycles : 2). + 35.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978765 ms (missed cycles : 2).[0m ×2 + 36.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.127ms + 37.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428556 ms (missed cycles : 4). + 37.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428556 ms (missed cycles : 4).[0m ×2 + 38.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145854 ms (missed cycles : 3). + 38.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145854 ms (missed cycles : 3).[0m ×2 + 39.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044763 ms (missed cycles : 3). + 39.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044763 ms (missed cycles : 3).[0m ×2 + 40.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645315 ms (missed cycles : 4). + 40.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645315 ms (missed cycles : 4).[0m ×2 + 41.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915643 ms (missed cycles : 2). + 41.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915643 ms (missed cycles : 2).[0m ×2 + 41.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 42.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755606 ms (missed cycles : 4). + 42.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755606 ms (missed cycles : 4).[0m ×2 + 43.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572085 ms (missed cycles : 4). + 43.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572085 ms (missed cycles : 4).[0m ×2 + 44.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955865 ms (missed cycles : 4). + 44.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955865 ms (missed cycles : 4).[0m ×2 + 44.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 45.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172785 ms (missed cycles : 3). + 45.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172785 ms (missed cycles : 3).[0m ×2 + 46.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257663 ms (missed cycles : 3). + 46.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257663 ms (missed cycles : 3).[0m ×2 + 47.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023234 ms (missed cycles : 4). + 47.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023234 ms (missed cycles : 4).[0m ×2 + 48.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 48.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914248 ms (missed cycles : 3). + 48.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914248 ms (missed cycles : 3).[0m ×2 + 49.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.964422 ms (missed cycles : 4). + 49.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.964422 ms (missed cycles : 4).[0m ×2 + 50.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325610 ms (missed cycles : 2). + 50.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325610 ms (missed cycles : 2).[0m ×2 + 51.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155876 ms (missed cycles : 4). + 51.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155876 ms (missed cycles : 4).[0m ×2 + 51.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 52.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978719 ms (missed cycles : 2). + 52.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978719 ms (missed cycles : 2).[0m ×2 + 53.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411694 ms (missed cycles : 3). + 53.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411694 ms (missed cycles : 3).[0m ×2 + 54.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206643 ms (missed cycles : 3). + 54.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206643 ms (missed cycles : 3).[0m ×2 + 55.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 56.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737480 ms (missed cycles : 2). + 56.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737480 ms (missed cycles : 2).[0m ×2 + 57.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141466 ms (missed cycles : 3). + 57.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141466 ms (missed cycles : 3).[0m ×2 + 58.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337725 ms (missed cycles : 3). + 58.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337725 ms (missed cycles : 3).[0m ×2 + 59.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604159 ms (missed cycles : 2). + 59.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604159 ms (missed cycles : 2).[0m ×2 + 59.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 60.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787145993.01616359 seconds ×3 + 60.45sWARNlocal_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. + 60.45sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.95) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725288 ms (missed cycles : 2). + 60.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725288 ms (missed cycles : 2).[0m ×2 + 60.55sWARNlocal_costmap.local_costmapSensor origin at (-0.79, 4.48) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.55sWARNlocal_costmap.local_costmapSensor origin at (-1.69, 4.50) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.149ms + 60.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.823ms + 60.99sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787145993.61433077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.36sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). ×2 + 61.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033629 ms (missed cycles : 4). + 61.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033629 ms (missed cycles : 4).[0m ×2 + 61.54sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997470 ms (missed cycles : 2). + 62.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997470 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 55.0s | 180 warnings · 192 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338065 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338065 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758369 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758369 ms (missed cycles : 4).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047570 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047570 ms (missed cycles : 3).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786174 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786174 ms (missed cycles : 4).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.99sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787145788.00731587 seconds ×3 + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.84) 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 - 4.343ms + 4.20sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.11) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.10) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.443ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899353 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899353 ms (missed cycles : 3).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787145788.59257460 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 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706400 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706400 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664145 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664145 ms (missed cycles : 3).[0m ×2 + 7.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.06sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.06sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.06sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.06sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013527 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013527 ms (missed cycles : 2).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099608 ms (missed cycles : 2). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099608 ms (missed cycles : 2).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.433ms + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.894ms + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366596 ms (missed cycles : 3). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366596 ms (missed cycles : 3).[0m ×2 + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.439ms + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.600ms + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490164 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490164 ms (missed cycles : 3).[0m ×2 + 11.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.310ms + 11.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.246ms + 12.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.486ms + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091873 ms (missed cycles : 4). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091873 ms (missed cycles : 4).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.819ms + 13.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.842ms + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020406 ms (missed cycles : 4). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020406 ms (missed cycles : 4).[0m ×2 + 13.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.755ms + 14.00sINFOamclParticle filter update iteration stats: 4683 particles 723 points - 6.464ms + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436230 ms (missed cycles : 4). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436230 ms (missed cycles : 4).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 3492 particles 723 points - 5.003ms + 15.00sINFOamclParticle filter update iteration stats: 2606 particles 723 points - 4.137ms + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569792 ms (missed cycles : 4). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569792 ms (missed cycles : 4).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 2.753ms + 16.00sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 3.029ms + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524432 ms (missed cycles : 5). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524432 ms (missed cycles : 5).[0m ×2 + 16.50sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 1.849ms + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989196 ms (missed cycles : 3). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989196 ms (missed cycles : 3).[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620266 ms (missed cycles : 3). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620266 ms (missed cycles : 3).[0m ×2 + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 19.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012773 ms (missed cycles : 2). + 19.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012773 ms (missed cycles : 2).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 20.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648195 ms (missed cycles : 3). + 20.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648195 ms (missed cycles : 3).[0m ×2 + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms ×2 + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470622 ms (missed cycles : 3). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470622 ms (missed cycles : 3).[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.263ms ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361483 ms (missed cycles : 5). + 22.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361483 ms (missed cycles : 5).[0m ×2 + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms ×2 + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 23.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887630 ms (missed cycles : 3). + 23.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887630 ms (missed cycles : 3).[0m ×2 + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms ×2 + 24.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349905 ms (missed cycles : 2). + 24.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349905 ms (missed cycles : 2).[0m ×2 + 24.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.200ms + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 25.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459648 ms (missed cycles : 3). + 25.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459648 ms (missed cycles : 3).[0m ×2 + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 27.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874354 ms (missed cycles : 2). + 27.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874354 ms (missed cycles : 2).[0m ×2 + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.215ms + 28.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381867 ms (missed cycles : 3). + 28.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381867 ms (missed cycles : 3).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms ×2 + 29.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943143 ms (missed cycles : 3). + 29.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943143 ms (missed cycles : 3).[0m ×2 + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 30.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848118 ms (missed cycles : 4). + 30.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848118 ms (missed cycles : 4).[0m ×2 + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 31.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669839 ms (missed cycles : 4). + 31.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669839 ms (missed cycles : 4).[0m ×2 + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms ×2 + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 32.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938492 ms (missed cycles : 3). + 32.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938492 ms (missed cycles : 3).[0m ×2 + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.059ms + 33.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741995 ms (missed cycles : 2). + 33.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741995 ms (missed cycles : 2).[0m ×2 + 33.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms ×2 + 34.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933721 ms (missed cycles : 3). + 34.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933721 ms (missed cycles : 3).[0m ×2 + 35.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315038 ms (missed cycles : 4). + 35.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315038 ms (missed cycles : 4).[0m ×2 + 36.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565699 ms (missed cycles : 3). + 36.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565699 ms (missed cycles : 3).[0m ×2 + 37.10sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.31sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 37.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114807 ms (missed cycles : 5). + 37.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114807 ms (missed cycles : 5).[0m ×2 + 37.88sINFOobjective_server_nodePlanning for 47 path waypoints. ×3 + 38.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.456445 ms (missed cycles : 5). + 38.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.456445 ms (missed cycles : 5).[0m ×2 + 39.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 39.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238250 ms (missed cycles : 4). + 39.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238250 ms (missed cycles : 4).[0m ×2 + 40.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 40.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 40.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289306 ms (missed cycles : 4). + 40.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289306 ms (missed cycles : 4).[0m ×2 + 40.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 41.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 41.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.715669 ms (missed cycles : 5). + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.715669 ms (missed cycles : 5).[0m ×2 + 42.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 42.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 42.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.481539 ms (missed cycles : 4). + 42.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.481539 ms (missed cycles : 4).[0m ×2 + 43.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.049ms + 44.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941848 ms (missed cycles : 3). + 44.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941848 ms (missed cycles : 3).[0m ×2 + 45.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204432 ms (missed cycles : 3). + 45.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204432 ms (missed cycles : 3).[0m ×2 + 46.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065444 ms (missed cycles : 2). + 46.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065444 ms (missed cycles : 2).[0m ×2 + 46.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.253ms + 47.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077708 ms (missed cycles : 2). + 47.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077708 ms (missed cycles : 2).[0m ×2 + 48.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 48.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073633 ms (missed cycles : 3). + 48.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073633 ms (missed cycles : 3).[0m ×2 + 49.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734046 ms (missed cycles : 3). + 49.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734046 ms (missed cycles : 3).[0m ×2 + 49.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 50.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 50.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124683 ms (missed cycles : 3). + 50.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124683 ms (missed cycles : 3).[0m ×2 + 51.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 51.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447615 ms (missed cycles : 2). + 51.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447615 ms (missed cycles : 2).[0m ×2 + 52.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.216ms + 52.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842937 ms (missed cycles : 3). + 52.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842937 ms (missed cycles : 3).[0m ×2 + 54.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947398 ms (missed cycles : 2). + 54.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947398 ms (missed cycles : 2).[0m ×2 + 54.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 55.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549244 ms (missed cycles : 3). + 55.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549244 ms (missed cycles : 3).[0m ×2 + 55.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 56.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240678 ms (missed cycles : 3). + 56.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240678 ms (missed cycles : 3).[0m ×2 + 57.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 57.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179405 ms (missed cycles : 3). + 57.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179405 ms (missed cycles : 3).[0m ×2 + 58.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218443 ms (missed cycles : 4). + 58.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218443 ms (missed cycles : 4).[0m ×2 + 58.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 59.03sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787145843.01270223 seconds ×3 + 59.20sWARNlocal_costmap.local_costmapSensor origin at (-0.47, 4.16) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 59.20sWARNlocal_costmap.local_costmapSensor origin at (-1.33, 4.40) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 59.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.332ms + 59.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.055ms + 59.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786520 ms (missed cycles : 2). + 59.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786520 ms (missed cycles : 2).[0m ×2 + 59.62sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787145843.60291529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.11sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 60.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849699 ms (missed cycles : 3). + 60.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849699 ms (missed cycles : 3).[0m ×2 + 61.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909620 ms (missed cycles : 3). + 61.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909620 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 144 warnings · 266 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.12sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.12sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320040 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320040 ms (missed cycles : 2).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437887 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437887 ms (missed cycles : 3).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514969 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514969 ms (missed cycles : 3).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009256 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009256 ms (missed cycles : 3).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671777 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671777 ms (missed cycles : 2).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654148 ms (missed cycles : 4). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654148 ms (missed cycles : 4).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743182 ms (missed cycles : 3). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743182 ms (missed cycles : 3).[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222491 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222491 ms (missed cycles : 2).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688663 ms (missed cycles : 2). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688663 ms (missed cycles : 2).[0m ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038012 ms (missed cycles : 3). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038012 ms (missed cycles : 3).[0m ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641987 ms (missed cycles : 3). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641987 ms (missed cycles : 3).[0m ×2 + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750411 ms (missed cycles : 3). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750411 ms (missed cycles : 3).[0m ×2 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629757 ms (missed cycles : 2). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629757 ms (missed cycles : 2).[0m ×2 + 20.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473111 ms (missed cycles : 2). + 20.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473111 ms (missed cycles : 2).[0m ×2 + 20.86sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 2.155ms + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933139 ms (missed cycles : 2). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933139 ms (missed cycles : 2).[0m ×2 + 22.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303366 ms (missed cycles : 2). + 22.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303366 ms (missed cycles : 2).[0m ×2 + 23.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893741 ms (missed cycles : 2). + 23.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893741 ms (missed cycles : 2).[0m ×2 + 24.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534452 ms (missed cycles : 3). + 24.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534452 ms (missed cycles : 3).[0m ×2 + 25.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703298 ms (missed cycles : 2). + 25.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703298 ms (missed cycles : 2).[0m ×2 + 26.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709921 ms (missed cycles : 3). + 26.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709921 ms (missed cycles : 3).[0m ×2 + 27.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747738 ms (missed cycles : 3). + 27.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747738 ms (missed cycles : 3).[0m ×2 + 28.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131231 ms (missed cycles : 2). + 28.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131231 ms (missed cycles : 2).[0m ×2 + 29.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987231 ms (missed cycles : 2). + 29.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987231 ms (missed cycles : 2).[0m ×2 + 30.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736320 ms (missed cycles : 3). + 30.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736320 ms (missed cycles : 3).[0m ×2 + 31.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718507 ms (missed cycles : 2). + 31.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718507 ms (missed cycles : 2).[0m ×2 + 32.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819660 ms (missed cycles : 2). + 32.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819660 ms (missed cycles : 2).[0m ×2 + 33.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626205 ms (missed cycles : 2). + 33.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626205 ms (missed cycles : 2).[0m ×2 + 35.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795206 ms (missed cycles : 3). + 35.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795206 ms (missed cycles : 3).[0m ×2 + 36.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456859 ms (missed cycles : 3). + 36.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456859 ms (missed cycles : 3).[0m ×2 + 37.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053710 ms (missed cycles : 2). + 37.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053710 ms (missed cycles : 2).[0m ×2 + 38.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683267 ms (missed cycles : 2). + 38.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683267 ms (missed cycles : 2).[0m ×2 + 39.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071406 ms (missed cycles : 2). + 39.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071406 ms (missed cycles : 2).[0m ×2 + 40.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260181 ms (missed cycles : 2). + 40.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260181 ms (missed cycles : 2).[0m ×2 + 41.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974718 ms (missed cycles : 2). + 41.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974718 ms (missed cycles : 2).[0m ×2 + 42.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462379 ms (missed cycles : 2). + 42.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462379 ms (missed cycles : 2).[0m ×2 + 43.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559544 ms (missed cycles : 3). + 43.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559544 ms (missed cycles : 3).[0m ×2 + 44.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519943 ms (missed cycles : 2). + 44.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519943 ms (missed cycles : 2).[0m ×2 + 45.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244212 ms (missed cycles : 3). + 45.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244212 ms (missed cycles : 3).[0m ×2 + 46.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859558 ms (missed cycles : 2). + 46.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859558 ms (missed cycles : 2).[0m ×2 + 47.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082745 ms (missed cycles : 3). + 47.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082745 ms (missed cycles : 3).[0m ×2 + 47.72sINFOjoint_trajectory_controllerGoal reached, success! + 47.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787145688.75278807 seconds ×3 + 47.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 48.06sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 1.905ms + 48.32sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787145689.34602165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480354 ms (missed cycles : 2). + 48.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480354 ms (missed cycles : 2).[0m ×2 + 49.51sINFOobjective_server_nodeFound path in 0 iterations (3.3442e-05 s). ×2 + 49.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236577 ms (missed cycles : 3). + 49.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236577 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.4s | 131 warnings · 147 info |
+ 0.00sWARNglobal_costmap.global_costmapSensor origin at (2.30, -3.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 0.00sWARNglobal_costmap.global_costmapSensor origin at (1.82, -3.06) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×5 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905096 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905096 ms (missed cycles : 3).[0m ×2 + 1.00sWARNglobal_costmap.global_costmapSensor origin at (2.31, -3.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131786 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131786 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276755 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276755 ms (missed cycles : 3).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.70sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.74sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787145755.63710904 seconds ×3 + 3.00sWARNglobal_costmap.global_costmapSensor origin at (2.32, -3.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652300 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652300 ms (missed cycles : 3).[0m ×2 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.32sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787145757.21714258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509807 ms (missed cycles : 4). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509807 ms (missed cycles : 4).[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (6.16e-07 s). ×2 + 5.00sWARNglobal_costmap.global_costmapSensor origin at (1.82, -3.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524655 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524655 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.70sINFOjoint_trajectory_controllerReceived new action goal + 6.70sINFOjoint_trajectory_controllerAccepted new action goal + 6.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621482 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621482 ms (missed cycles : 2).[0m ×2 + 7.00sWARNglobal_costmap.global_costmapSensor origin at (2.30, -3.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877002 ms (missed cycles : 3). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877002 ms (missed cycles : 3).[0m ×2 + 8.00sWARNglobal_costmap.global_costmapSensor origin at (2.37, -3.71) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.00sWARNglobal_costmap.global_costmapSensor origin at (1.85, -2.97) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.39sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564704 ms (missed cycles : 3). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564704 ms (missed cycles : 3).[0m ×2 + 9.00sWARNglobal_costmap.global_costmapSensor origin at (2.60, -3.44) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.731ms + 9.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.155ms + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700569 ms (missed cycles : 2). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700569 ms (missed cycles : 2).[0m ×2 + 10.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.020ms + 10.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.105ms + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324183 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324183 ms (missed cycles : 2).[0m ×2 + 11.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.031ms + 11.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.527ms + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056062 ms (missed cycles : 2). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056062 ms (missed cycles : 2).[0m ×2 + 12.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.283ms + 12.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.075ms + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032448 ms (missed cycles : 4). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032448 ms (missed cycles : 4).[0m ×2 + 13.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.981ms + 13.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.761ms + 14.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.714ms + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994613 ms (missed cycles : 3). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994613 ms (missed cycles : 3).[0m ×2 + 14.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.188ms + 15.09sINFOamclParticle filter update iteration stats: 4745 particles 723 points - 8.013ms + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307661 ms (missed cycles : 3). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307661 ms (missed cycles : 3).[0m ×2 + 15.59sINFOamclParticle filter update iteration stats: 4508 particles 723 points - 8.448ms + 16.09sINFOamclParticle filter update iteration stats: 4083 particles 723 points - 5.098ms + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774600 ms (missed cycles : 3). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774600 ms (missed cycles : 3).[0m ×2 + 16.58sINFOamclParticle filter update iteration stats: 3990 particles 723 points - 5.145ms + 17.09sINFOamclParticle filter update iteration stats: 3783 particles 723 points - 5.320ms + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899017 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899017 ms (missed cycles : 2).[0m ×2 + 17.59sINFOamclParticle filter update iteration stats: 3367 particles 723 points - 4.410ms + 18.09sINFOamclParticle filter update iteration stats: 2972 particles 723 points - 3.918ms + 18.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017046 ms (missed cycles : 3). + 18.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017046 ms (missed cycles : 3).[0m ×2 + 18.59sINFOamclParticle filter update iteration stats: 2753 particles 723 points - 4.830ms + 19.09sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 4.288ms + 19.58sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 2.051ms + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650756 ms (missed cycles : 3). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650756 ms (missed cycles : 3).[0m ×2 + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.360ms + 20.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 20.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505181 ms (missed cycles : 4). + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505181 ms (missed cycles : 4).[0m ×2 + 21.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 21.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 21.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218688 ms (missed cycles : 3). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218688 ms (missed cycles : 3).[0m ×2 + 22.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.318ms + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 22.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049888 ms (missed cycles : 3). + 22.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049888 ms (missed cycles : 3).[0m ×2 + 23.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 23.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225826 ms (missed cycles : 3). + 23.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225826 ms (missed cycles : 3).[0m ×2 + 24.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 24.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 24.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720325 ms (missed cycles : 2). + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720325 ms (missed cycles : 2).[0m ×2 + 25.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 25.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496358 ms (missed cycles : 3). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496358 ms (missed cycles : 3).[0m ×2 + 26.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 26.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 27.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639720 ms (missed cycles : 3). + 27.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639720 ms (missed cycles : 3).[0m ×2 + 27.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 27.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 28.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 28.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352276 ms (missed cycles : 2). + 28.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352276 ms (missed cycles : 2).[0m ×2 + 28.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 29.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 29.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287881 ms (missed cycles : 4). + 29.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287881 ms (missed cycles : 4).[0m ×2 + 29.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 30.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 30.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236376 ms (missed cycles : 4). + 30.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236376 ms (missed cycles : 4).[0m ×2 + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 31.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 31.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338065 ms (missed cycles : 3). + 31.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338065 ms (missed cycles : 3).[0m ×2 + 31.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 32.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758369 ms (missed cycles : 4). + 32.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758369 ms (missed cycles : 4).[0m ×2 + 32.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 33.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 33.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047570 ms (missed cycles : 3). + 33.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047570 ms (missed cycles : 3).[0m ×2 + 33.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 34.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786174 ms (missed cycles : 4). + 34.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786174 ms (missed cycles : 4).[0m ×2 + 35.11sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787145788.00731587 seconds ×3 + 35.18sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 35.18sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.84) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 35.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.343ms + 35.28sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.11) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 35.28sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.10) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 35.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.443ms + 35.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899353 ms (missed cycles : 3). + 35.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899353 ms (missed cycles : 3).[0m ×2 + 35.69sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787145788.59257460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.12sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706400 ms (missed cycles : 2). + 36.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706400 ms (missed cycles : 2).[0m ×2 + 37.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664145 ms (missed cycles : 3). + 37.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664145 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 14.9s | 64 warnings · 186 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141466 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141466 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337725 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337725 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604159 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604159 ms (missed cycles : 2).[0m ×2 + 2.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 3.25sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.25sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787145993.01616359 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.35sWARNlocal_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. + 3.35sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.95) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725288 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725288 ms (missed cycles : 2).[0m ×2 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-0.79, 4.48) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-1.69, 4.50) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.149ms + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.823ms + 3.88sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787145993.61433077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033629 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033629 ms (missed cycles : 4).[0m ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.45sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.45sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.45sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997470 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997470 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877051 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877051 ms (missed cycles : 2).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227624 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227624 ms (missed cycles : 2).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325795 ms (missed cycles : 2). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325795 ms (missed cycles : 2).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876194 ms (missed cycles : 3). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876194 ms (missed cycles : 3).[0m ×2 + 10.16sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 10.19sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.23sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 10.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.30sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 10.37sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.41sINFOobjective_server_nodeFound path in 0 iterations (7.69e-07 s). ×2 + 10.48sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.54sINFOobjective_server_nodeFound path in 0 iterations (5.87e-07 s). ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941625 ms (missed cycles : 3). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941625 ms (missed cycles : 3).[0m ×2 + 10.80sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.84sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 11.12sINFOobjective_server_nodeFound path in 51 iterations (0.0605469 s). ×2 + 11.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_____X] ×2 + 11.47sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 11.57sINFOros2_control_nodeMuJoCo sim: 0.91% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479394 ms (missed cycles : 3). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479394 ms (missed cycles : 3).[0m ×2 + 11.88sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.15sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015422 ms (missed cycles : 2). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015422 ms (missed cycles : 2).[0m ×2 + 13.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.615ms + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419959 ms (missed cycles : 2). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419959 ms (missed cycles : 2).[0m ×2 + 14.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.166ms + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770347 ms (missed cycles : 3). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770347 ms (missed cycles : 3).[0m ×2 + 15.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.623ms + 15.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.588ms + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413471 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413471 ms (missed cycles : 2).[0m ×2 + 16.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.360ms + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382086 ms (missed cycles : 3). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382086 ms (missed cycles : 3).[0m ×2 + 17.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.147ms + 18.15sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787146007.87798715 seconds ×3 + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654380 ms (missed cycles : 3). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654380 ms (missed cycles : 3).[0m ×2 + 18.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.437ms + 18.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787146008.49417710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.77sINFOmove_groupClearing octomap...[0m ×2 + 18.77sINFOmove_groupOctomap cleared.[0m ×2 + 19.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712985 ms (missed cycles : 2). + 19.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712985 ms (missed cycles : 2).[0m ×2 + 19.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787146009.18431234 seconds ×3 + 20.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787146009.76837087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787146010.23850775 seconds ×3 + 20.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822543 ms (missed cycles : 3). + 20.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822543 ms (missed cycles : 3).[0m ×2 + 20.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.2s | 101 errors · 30 warnings · 431 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.623ms + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.588ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413471 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413471 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.360ms + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382086 ms (missed cycles : 3). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382086 ms (missed cycles : 3).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.147ms + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787146007.87798715 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654380 ms (missed cycles : 3). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654380 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.437ms + 3.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787146008.49417710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.51sINFOmove_groupClearing octomap...[0m ×2 + 3.51sINFOmove_groupOctomap cleared.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712985 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712985 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787146009.18431234 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787146009.76837087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787146010.23850775 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822543 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822543 ms (missed cycles : 3).[0m ×2 + 5.49sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876917 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876917 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023970 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023970 ms (missed cycles : 2).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383921 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383921 ms (missed cycles : 2).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888624 ms (missed cycles : 3). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888624 ms (missed cycles : 3).[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053998 ms (missed cycles : 3). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053998 ms (missed cycles : 3).[0m ×2 + 11.01sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.08sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORweb_video_auth_proxy-35process has died [pid 9648, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.08sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.10sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORweb_bridge_auth_proxy-34process has died [pid 9647, 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 + 11.11sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.21sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.24sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.26sINFOvideo_server-33process has finished cleanly [pid 9646] ×2 + 11.26sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.28sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.29sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.31sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.34sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.36sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.40sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.43sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.47sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.49sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9645] ×2 + 11.50sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.54sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.57sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1787146016.259 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.58sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.58sINFOcontroller_managerShutdown request received.... + 11.58sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.58sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.58sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.58sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.58sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.58sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.58sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.59sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.59sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.59sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.59sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.59sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.59sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.59sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.59sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.59sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.59sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.59sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.59sINFOcontroller_managerShutting down the controller manager. + 11.61sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.61sERRORmove_group-21process has died [pid 9629, 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_nm3m3hek --params-file /tmp/launch_params_mbpgrwqg --params-file /tmp/launch_params_hr_9h6k8 --params-file /tmp/launch_params_l1dgiedp --params-file /tmp/launch_params_z22x8vb_ --params-file /tmp/launch_params_9iv1dzj6']. ×2 + 11.61sINFOui_teleop_bridge-30process has finished cleanly [pid 9642] ×2 + 11.61sINFOcomponent_container_mt-28process has finished cleanly [pid 9640] ×2 + 11.63sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.66sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.66sINFOexecute_objective_bridge-29process has finished cleanly [pid 9641] ×2 + 11.68sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.70sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.73sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.75sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.75sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.75sINFOmap_serverDeactivating + 11.75sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.76sINFOmap_serverCleaning up + 11.76sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.76sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.77sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.77sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.77sINFOcontroller_serverDeactivating + 11.77sINFOlocal_costmap.local_costmapDeactivating + 11.78sINFOvideo_server2026/08/19 13:26:56 INF shutting down gracefully ×2 + 11.78sINFOvideo_server2026/08/19 13:26:56 INF [WebRTC] closing ×2 + 11.78sINFOvideo_server2026/08/19 13:26:56 INF [RTSP] closing ×2 + 11.78sINFOvideo_server2026/08/19 13:26:56 INF waiting for running hooks ×2 + 11.78sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.78sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.78sERRORamclThe bond connection to the lifecycle manager has been broken + 11.78sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.78sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.78sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.78sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.79sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.79sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.79sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.79sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.79sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.79sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.79sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.79sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.79sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.79sERRORmove_groupStack trace (most recent call last) in thread 10251: ×2 + 11.79sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.79sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6d46118b63, in __clone ×2 + 11.79sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6d4608bb83, in ×2 + 11.79sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6d4631ddb3, in ×2 + 11.79sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f6d46a8e637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.79sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6d466af620, in rclcpp::Rate::sleep() ×2 + 11.79sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6d465f1d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.79sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6d465b3087, in ×2 + 11.79sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6d462ec390, in __cxa_throw ×2 + 11.79sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6d462d6a54, in std::terminate() ×2 + 11.79sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6d462ec0d9, in ×2 + 11.79sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6d462d6ff4, in ×2 + 11.79sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6d460178fe, in abort ×2 + 11.79sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6d4603427d, in raise ×2 + 11.79sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6d4608dc0c, in pthread_kill ×2 + 11.79sERRORmove_groupAborted (Signal sent by tkill() 9629 0) ×2 + 11.79sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.79sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.79sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.79sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.79sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.79sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.79sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.79sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.79sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.80sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.80sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.80sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.80sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.80sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.80sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.80sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.80sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.80sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.80sINFOcontroller_serverCleaning up + 11.80sINFOlocal_costmap.local_costmapCleaning up + 11.80sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.80sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.80sINFOodom_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 + 11.80sINFOodom_qos_relay.pymain() ×2 + 11.80sINFOodom_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 + 11.80sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.80sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.80sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.80sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.80sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.80sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.80sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.80sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.80sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.81sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.82sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.82sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.82sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.84sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.84sINFOsmoother_serverDeactivating + 11.84sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.85sINFOsmoother_serverCleaning up + 11.87sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.87sINFOplanner_serverDeactivating + 11.87sINFOglobal_costmap.global_costmapDeactivating + 11.90sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.90sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.91sINFOplanner_serverCleaning up + 11.93sINFOglobal_costmap.global_costmapCleaning up + 11.93sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.93sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.93sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.93sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.93sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.93sINFOvelocity_smootherDeactivating + 11.93sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.94sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.94sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.97sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.97sINFObehavior_serverDeactivating + 11.97sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.98sERRORcomponent_container_isolated-2process has died [pid 9512, 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_eav1glb2 --params-file /tmp/launch_params_fjj3_n2k -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.99sINFObehavior_serverCleaning up + 11.99sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.99sINFObt_navigatorDeactivating + 11.99sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.00sINFObt_navigatorCleaning up + 12.05sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.05sINFOwaypoint_followerDeactivating + 12.05sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.15sINFObt_navigatorCompleted Cleaning up + 12.15sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.15sINFOwaypoint_followerCleaning up + 12.16sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.16sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.16sINFOvelocity_smootherCleaning up + 12.16sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.18sERRORbt_navigatorUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.18sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 12.18sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.18sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.18sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 12.18sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.18sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.18sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.18sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.18sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.18sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.18sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.19sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.19sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.19sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.19sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.19sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.20sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.21sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.21sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.21sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.21sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.21sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.21sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.21sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.21sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.21sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.21sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.46sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9637] ×2 + 12.49sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9636] ×2 + 12.52sERRORcomponent_container_isolated-1process has died [pid 9511, 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_eav1glb2 --params-file /tmp/launch_params_d_g8li2r -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.54sINFOobjective_server_node[2026-08-19 13:26:57.533] [moveit_pro_license] [critical] ×2 + 12.54sINFOobjective_server_node************************************************* ×4 + 12.54sINFOobjective_server_node* MoveIt Pro License ×2 + 12.54sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.56sINFOwaypoint_manager_node-23process has finished cleanly [pid 9632] ×2 + 12.57sINFOcomponent_container_mt-27process has finished cleanly [pid 9639] ×2 + 12.57sINFOparameter_manager_node-22process has finished cleanly [pid 9630] ×2 + 12.61sINFOobjective_server_node_main-26process has finished cleanly [pid 9638] ×2 + 12.61sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.65sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9518] ×2 + 12.68sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9517] ×2 + 12.74sINFOstatic_transform_publisher-4process has finished cleanly [pid 9514] ×2 + 12.77sINFOstatic_transform_publisher-3process has finished cleanly [pid 9513] ×2 + 12.77sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9516] ×2 + 12.79sERRORodom_qos_relay.py-5process has died [pid 9515, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.98sINFOweb_bridge-31process has finished cleanly [pid 9643] ×2 + 13.98sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.32sINFOros2_control_node-9process has finished cleanly [pid 9519] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 3 errors · 55 warnings · 113 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549244 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549244 ms (missed cycles : 3).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240678 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240678 ms (missed cycles : 3).[0m ×2 + 1.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179405 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179405 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218443 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218443 ms (missed cycles : 4).[0m ×2 + 3.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 3.75sINFOjoint_trajectory_controllerGoal reached, success! + 3.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787145843.01270223 seconds ×3 + 3.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.94sWARNlocal_costmap.local_costmapSensor origin at (-0.47, 4.16) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.94sWARNlocal_costmap.local_costmapSensor origin at (-1.33, 4.40) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.332ms + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.055ms + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786520 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786520 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787145843.60291529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849699 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849699 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909620 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909620 ms (missed cycles : 3).[0m ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.88sINFOjoint_trajectory_controllerReceived new action goal + 6.88sINFOjoint_trajectory_controllerAccepted new action goal + 6.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147153 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147153 ms (missed cycles : 3).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224603 ms (missed cycles : 2). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224603 ms (missed cycles : 2).[0m ×2 + 8.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.229ms + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900591 ms (missed cycles : 2). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900591 ms (missed cycles : 2).[0m ×2 + 9.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.704ms + 9.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.803ms + 10.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.624ms + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230579 ms (missed cycles : 2). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230579 ms (missed cycles : 2).[0m ×2 + 10.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.050ms + 11.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.512ms + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094027 ms (missed cycles : 2). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094027 ms (missed cycles : 2).[0m ×2 + 11.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.912ms + 12.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.296ms + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833715 ms (missed cycles : 3). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833715 ms (missed cycles : 3).[0m ×2 + 12.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.925ms + 13.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.269ms + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365290 ms (missed cycles : 3). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365290 ms (missed cycles : 3).[0m ×2 + 13.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.190ms + 14.35sINFOamclParticle filter update iteration stats: 3669 particles 723 points - 5.803ms + 14.54sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.55sINFOjoint_trajectory_controllerGot request to cancel goal + 14.55sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.55sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.55sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.58sERRORobjective_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: 1787145853.81267738 seconds ×3 + 14.64sWARNlocal_costmap.local_costmapSensor origin at (-0.62, 3.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.64sWARNlocal_costmap.local_costmapSensor origin at (-1.52, 3.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.139ms + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123184 ms (missed cycles : 2). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123184 ms (missed cycles : 2).[0m ×2 + 15.16sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787145854.39909267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.55sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080716 ms (missed cycles : 4). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080716 ms (missed cycles : 4).[0m ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298588 ms (missed cycles : 3). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298588 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.3s | 59 warnings · 94 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167831 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167831 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609053 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609053 ms (missed cycles : 2).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758131 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758131 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792736 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792736 ms (missed cycles : 4).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.36sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787145749.36170650 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 + 3.42sINFOros2_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 + 3.52sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.52sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.162ms + 4.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787145749.95697141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765462 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765462 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.93sWARNglobal_costmap.global_costmapSensor origin at (2.29, -3.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.93sWARNglobal_costmap.global_costmapSensor origin at (1.82, -3.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×4 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731170 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731170 ms (missed cycles : 3).[0m ×2 + 5.93sWARNglobal_costmap.global_costmapSensor origin at (2.30, -3.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×5 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340559 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340559 ms (missed cycles : 3).[0m ×2 + 6.94sWARNglobal_costmap.global_costmapSensor origin at (1.82, -3.06) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×5 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905096 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905096 ms (missed cycles : 3).[0m ×2 + 7.93sWARNglobal_costmap.global_costmapSensor origin at (2.31, -3.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131786 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131786 ms (missed cycles : 2).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276755 ms (missed cycles : 3). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276755 ms (missed cycles : 3).[0m ×2 + 9.68sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787145755.63710904 seconds ×3 + 9.93sWARNglobal_costmap.global_costmapSensor origin at (2.32, -3.81) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652300 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652300 ms (missed cycles : 3).[0m ×2 + 11.26sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787145757.21714258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509807 ms (missed cycles : 4). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509807 ms (missed cycles : 4).[0m ×2 + 11.66sINFOobjective_server_nodeFound path in 0 iterations (6.16e-07 s). ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524655 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524655 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 38 warnings · 94 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258333 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258333 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165124 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165124 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996086 ms (missed cycles : 3). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996086 ms (missed cycles : 3).[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701413 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701413 ms (missed cycles : 3).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.96sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787145929.54977584 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-1.80, 11.65) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 11.26) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 3409 particles 723 points - 2.968ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.967ms + 4.55sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787145930.12818313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189911 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189911 ms (missed cycles : 3).[0m ×2 + 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 + 5.04sINFOjoint_trajectory_controllerReceived new action goal + 5.04sINFOjoint_trajectory_controllerAccepted new action goal + 5.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.05sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402726 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402726 ms (missed cycles : 3).[0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511243 ms (missed cycles : 4). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511243 ms (missed cycles : 4).[0m ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000111 ms (missed cycles : 2). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000111 ms (missed cycles : 2).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057152 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057152 ms (missed cycles : 2).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656497 ms (missed cycles : 3). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656497 ms (missed cycles : 3).[0m ×2 + 10.45sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787145936.02831221 seconds ×3 + 11.04sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787145936.62603593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770598 ms (missed cycles : 3). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770598 ms (missed cycles : 3).[0m ×2 + 11.41sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599554 ms (missed cycles : 3). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599554 ms (missed cycles : 3).[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 2.519943 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519943 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244212 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244212 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859558 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859558 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082745 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082745 ms (missed cycles : 3).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.28sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787145688.75278807 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.61sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 1.905ms + 3.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787145689.34602165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480354 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480354 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (3.3442e-05 s). ×2 + 5.07sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236577 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236577 ms (missed cycles : 3).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866736 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866736 ms (missed cycles : 2).[0m ×2 + 6.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787145692.26614881 seconds ×3 + 7.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787145692.85158181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221501 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221501 ms (missed cycles : 3).[0m ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081462 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081462 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 24 warnings · 81 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.615ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419959 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419959 ms (missed cycles : 2).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.166ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770347 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770347 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.623ms + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.588ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413471 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413471 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.360ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382086 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382086 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.147ms + 4.16sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.19sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787146007.87798715 seconds ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654380 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654380 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.437ms + 4.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787146008.49417710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.81sINFOmove_groupClearing octomap...[0m ×2 + 4.81sINFOmove_groupOctomap cleared.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712985 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712985 ms (missed cycles : 2).[0m ×2 + 5.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787146009.18431234 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787146009.76837087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787146010.23850775 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822543 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822543 ms (missed cycles : 3).[0m ×2 + 6.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876917 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876917 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320040 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320040 ms (missed cycles : 2).[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 2.519943 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519943 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244212 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244212 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859558 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859558 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082745 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082745 ms (missed cycles : 3).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787145688.75278807 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 1.905ms + 3.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787145689.34602165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480354 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480354 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (3.3442e-05 s). ×2 + 5.07sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236577 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236577 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 1.35sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 24 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167831 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167831 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609053 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609053 ms (missed cycles : 2).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758131 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758131 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792736 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792736 ms (missed cycles : 4).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787145749.36170650 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 + 3.42sINFOros2_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 + 3.52sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.52sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.162ms + 4.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787145749.95697141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765462 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765462 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.93sWARNglobal_costmap.global_costmapSensor origin at (2.29, -3.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.93sWARNglobal_costmap.global_costmapSensor origin at (1.82, -3.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731170 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731170 ms (missed cycles : 3).[0m ×2 + 5.93sWARNglobal_costmap.global_costmapSensor origin at (2.30, -3.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 25 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338065 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338065 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758369 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758369 ms (missed cycles : 4).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047570 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047570 ms (missed cycles : 3).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786174 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786174 ms (missed cycles : 4).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! + 3.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787145788.00731587 seconds ×3 + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.84) 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 - 4.343ms + 4.20sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.11) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.10) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.443ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899353 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899353 ms (missed cycles : 3).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787145788.59257460 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 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706400 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706400 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664145 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664145 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 1.35sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511243 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511243 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000111 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000111 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057152 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057152 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656497 ms (missed cycles : 3). + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656497 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787145936.02831221 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787145936.62603593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770598 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770598 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599554 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599554 ms (missed cycles : 3).[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 2.229013 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 1.35sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511243 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511243 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000111 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000111 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057152 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057152 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656497 ms (missed cycles : 3). + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656497 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787145936.02831221 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787145936.62603593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770598 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770598 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599554 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511243 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511243 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000111 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000111 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057152 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057152 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656497 ms (missed cycles : 3). + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656497 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787145936.02831221 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787145936.62603593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770598 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770598 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599554 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511243 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511243 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000111 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000111 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057152 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057152 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656497 ms (missed cycles : 3). + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656497 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787145936.02831221 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787145936.62603593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770598 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770598 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599554 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511243 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511243 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000111 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000111 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057152 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057152 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656497 ms (missed cycles : 3). + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656497 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787145936.02831221 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787145936.62603593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770598 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770598 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599554 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511243 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511243 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000111 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000111 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057152 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057152 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656497 ms (missed cycles : 3). + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656497 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787145936.02831221 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787145936.62603593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770598 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770598 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599554 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511243 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511243 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000111 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000111 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057152 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057152 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656497 ms (missed cycles : 3). + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656497 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787145936.02831221 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787145936.62603593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770598 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770598 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599554 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 81 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.615ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419959 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419959 ms (missed cycles : 2).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.166ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770347 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770347 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.623ms + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.588ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413471 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413471 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.360ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382086 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382086 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.147ms + 4.16sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.19sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787146007.87798715 seconds ×3 + 4.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654380 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654380 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.437ms + 4.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787146008.49417710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.81sINFOmove_groupClearing octomap...[0m ×2 + 4.81sINFOmove_groupOctomap cleared.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712985 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712985 ms (missed cycles : 2).[0m ×2 + 5.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787146009.18431234 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787146009.76837087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787146010.23850775 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822543 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822543 ms (missed cycles : 3).[0m ×2 + 6.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×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 2.519943 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519943 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244212 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244212 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859558 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859558 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082745 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082745 ms (missed cycles : 3).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787145688.75278807 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.61sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 1.905ms + 3.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787145689.34602165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480354 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480354 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (3.3442e-05 s). ×2 + 5.07sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236577 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236577 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 93 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082745 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082745 ms (missed cycles : 3).[0m ×2 + 0.06sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.06sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787145688.75278807 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.39sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 1.905ms + 0.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787145689.34602165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480354 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480354 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeFound path in 0 iterations (3.3442e-05 s). ×2 + 1.85sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.87sINFOjoint_trajectory_controllerReceived new action goal + 1.87sINFOjoint_trajectory_controllerAccepted new action goal + 1.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236577 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236577 ms (missed cycles : 3).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866736 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866736 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787145692.26614881 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787145692.85158181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221501 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221501 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081462 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081462 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 24 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167831 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167831 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609053 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609053 ms (missed cycles : 2).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758131 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758131 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792736 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792736 ms (missed cycles : 4).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787145749.36170650 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 + 3.42sINFOros2_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 + 3.52sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.52sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.162ms + 4.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787145749.95697141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765462 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765462 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.93sWARNglobal_costmap.global_costmapSensor origin at (2.29, -3.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.93sWARNglobal_costmap.global_costmapSensor origin at (1.82, -3.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731170 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731170 ms (missed cycles : 3).[0m ×2 + 5.93sWARNglobal_costmap.global_costmapSensor origin at (2.30, -3.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 24 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167831 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167831 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609053 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609053 ms (missed cycles : 2).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758131 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758131 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792736 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792736 ms (missed cycles : 4).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787145749.36170650 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 + 3.42sINFOros2_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 + 3.52sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.52sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.162ms + 4.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787145749.95697141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765462 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765462 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.93sWARNglobal_costmap.global_costmapSensor origin at (2.29, -3.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.93sWARNglobal_costmap.global_costmapSensor origin at (1.82, -3.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731170 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731170 ms (missed cycles : 3).[0m ×2 + 5.93sWARNglobal_costmap.global_costmapSensor origin at (2.30, -3.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 24 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167831 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167831 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609053 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609053 ms (missed cycles : 2).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758131 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758131 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792736 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792736 ms (missed cycles : 4).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787145749.36170650 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 + 3.42sINFOros2_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 + 3.52sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.52sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.162ms + 4.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787145749.95697141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765462 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765462 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.93sWARNglobal_costmap.global_costmapSensor origin at (2.29, -3.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.93sWARNglobal_costmap.global_costmapSensor origin at (1.82, -3.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731170 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731170 ms (missed cycles : 3).[0m ×2 + 5.93sWARNglobal_costmap.global_costmapSensor origin at (2.30, -3.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 24 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167831 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167831 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609053 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609053 ms (missed cycles : 2).[0m ×2 + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758131 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758131 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792736 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792736 ms (missed cycles : 4).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787145749.36170650 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 + 3.42sINFOros2_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 + 3.52sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.52sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.162ms + 4.00sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787145749.95697141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765462 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765462 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.93sWARNglobal_costmap.global_costmapSensor origin at (2.29, -3.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.93sWARNglobal_costmap.global_costmapSensor origin at (1.82, -3.05) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731170 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731170 ms (missed cycles : 3).[0m ×2 + 5.93sWARNglobal_costmap.global_costmapSensor origin at (2.30, -3.82) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 25 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338065 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338065 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758369 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758369 ms (missed cycles : 4).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047570 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047570 ms (missed cycles : 3).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786174 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786174 ms (missed cycles : 4).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! + 3.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787145788.00731587 seconds ×3 + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.84) 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 - 4.343ms + 4.20sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.11) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.10) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.443ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899353 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899353 ms (missed cycles : 3).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787145788.59257460 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 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706400 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706400 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664145 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664145 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 25 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338065 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338065 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758369 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758369 ms (missed cycles : 4).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047570 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047570 ms (missed cycles : 3).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786174 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786174 ms (missed cycles : 4).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! + 3.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787145788.00731587 seconds ×3 + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.84) 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 - 4.343ms + 4.20sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.11) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.10) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.443ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899353 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899353 ms (missed cycles : 3).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787145788.59257460 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 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706400 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706400 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664145 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664145 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 1.35sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 6.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.22sINFOjoint_trajectory_controllerReceived new action goal + 7.22sINFOjoint_trajectory_controllerAccepted new action goal + 7.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.22sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681485 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681485 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 2.39sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 3.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.30sINFOmove_groupClearing octomap...[0m ×2 + 4.30sINFOmove_groupOctomap cleared.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 5.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 6.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOobjective_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 + 6.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 6.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 1.35sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 187 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681485 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681485 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 2.39sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 3.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.72sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.30sINFOmove_groupClearing octomap...[0m ×2 + 4.30sINFOmove_groupOctomap cleared.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 5.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 6.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOobjective_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 + 6.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 1.35sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_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 2.229013 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 1.35sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 1.35sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229013 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 1.35sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_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 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 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 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320040 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320040 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519157 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935052 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145643.17961025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145643.18979812 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142464 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145643.78289104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145643.79302406 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319083 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145644.37508702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145644.52580285 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145645.13616347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145645.20629048 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731600 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787145645.78375578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331791 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||