69
Total objective tests
18
Objectives passed
0
Objectives failed
51
Objectives skipped
22.7s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 31.3s | 12 errors · 310 warnings · 1399 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/2026-08-19-14-05-52-874906-db049917c9da-9410 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.37sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' + 13.37sINFOstatic_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' + 13.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.43sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 13.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.44sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.45sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.45sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.47sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 13.47sINFOcontroller_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. + 13.47sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.49sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.50sINFOcontroller_managerupdate rate is 600 Hz + 13.50sINFOcontroller_managerOverruns handling is : enabled + 13.50sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.51sWARNcontroller_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. + 13.52sINFOcontroller_serverCreating controller server + 13.55sINFOlocal_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. + 13.55sINFOlocal_costmap.local_costmapCreating Costmap + 13.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 13.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.62sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.63sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.863189 ms (missed cycles : 9). + 13.63sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.63sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.66sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.68sINFOsmoother_serverCreating smoother server + 13.70sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.70sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.70sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.70sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.70sINFOros2_control_node-9process started with pid [9468] ×2 + 13.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.71sINFOmove_group-21process started with pid [9557] ×2 + 13.71sINFOparameter_manager_node-22process started with pid [9558] ×2 + 13.71sINFOwaypoint_manager_node-23process started with pid [9559] ×2 + 13.71sINFOmove_joint_resampler_node-24process started with pid [9581] ×2 + 13.71sINFOmove_end_effector_resampler_node-25process started with pid [9583] ×2 + 13.71sINFOobjective_server_node_main-26process started with pid [9584] ×2 + 13.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.71sINFOcomponent_container_mt-27process started with pid [9585] ×2 + 13.71sINFOcomponent_container_mt-28process started with pid [9586] ×2 + 13.71sINFOexecute_objective_bridge-29process started with pid [9587] ×2 + 13.71sINFOui_teleop_bridge-30process started with pid [9588] ×2 + 13.71sINFOweb_bridge-31process started with pid [9589] ×2 + 13.71sINFOtf2_web_republisher_node-32process started with pid [9590] ×2 + 13.72sINFOvideo_server-33process started with pid [9591] ×2 + 13.72sINFOweb_bridge_auth_proxy-34process started with pid [9594] ×2 + 13.72sINFOweb_video_auth_proxy-35process started with pid [9597] ×2 + 13.72sINFOmap_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. + 13.72sINFOmap_serverCreating + 13.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 13.75sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 13.75sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.75sINFOcomponent_container_isolated-1process started with pid [9460] ×2 + 13.75sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.76sINFOcomponent_container_isolated-2process started with pid [9461] ×2 + 13.76sINFOstatic_transform_publisher-3process started with pid [9462] ×2 + 13.76sINFOstatic_transform_publisher-4process started with pid [9463] ×2 + 13.76sINFOodom_qos_relay.py-5process started with pid [9464] ×2 + 13.76sINFOforward_stereo_publisher.py-6process started with pid [9465] ×2 + 13.76sINFOscan_to_scan_filter_chain-7process started with pid [9466] ×2 + 13.76sINFOscan_to_scan_filter_chain-8process started with pid [9467] ×2 + 13.76sINFOros2-10process started with pid [9546] ×2 + 13.76sINFOros2-11process started with pid [9547] ×2 + 13.76sINFOros2-12process started with pid [9548] ×2 + 13.76sINFOros2-13process started with pid [9549] ×2 + 13.76sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.76sINFOros2-14process started with pid [9550] ×2 + 13.77sINFOros2-15process started with pid [9551] ×2 + 13.77sINFOros2-16process started with pid [9552] ×2 + 13.77sINFOros2-17process started with pid [9553] ×2 + 13.77sINFOros2-18process started with pid [9554] ×2 + 13.77sINFOros2-19process started with pid [9555] ×2 + 13.77sINFOros2-20process started with pid [9556] ×2 + 13.78sINFOplanner_serverCreating + 13.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 13.81sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.81sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.82sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 13.82sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 13.82sINFOglobal_costmap.global_costmapCreating Costmap + 13.85sINFOlifecycle_manager_localizationCreating + 13.85sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 13.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.86sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.87sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.87sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.88sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.88sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.89sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.90sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.90sINFOmap_serverConfiguring + 13.91sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.94sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 13.94sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 13.95sINFOrobot_state_publisherRobot initialized + 13.95sINFOcontroller_managerReceived robot description from topic. + 13.95sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 13.96sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 13.96sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 13.96sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 13.96sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 13.97sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.97sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 13.97sINFOamclConfiguring + 13.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 13.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.97sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 13.98sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.98sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.98sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.98sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.863189 ms (missed cycles : 9).[0m ×2 + 13.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.98sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.98sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 13.99sINFOmap_serverActivating + 13.99sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 13.99sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.00sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.02sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.02sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.02sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.03sINFObt_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. + 14.05sINFObt_navigatorCreating + 14.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.06sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.07sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.08sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.08sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.08sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.09sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.09sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.09sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.10sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.10sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.11sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.11sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.11sINFOamclActivating + 14.11sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.12sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.12sINFOwaypoint_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. + 14.12sINFOamclSubscribed to map_topic: /map + 14.12sINFOamclSubscribed to scan_topic: /scan_merged + 14.12sINFOamclCreated reinitialize_global_localization service + 14.12sINFOamclCreated request_nomotion_update service + 14.13sINFOwaypoint_followerCreating + 14.14sINFOamclA new map was received + 14.14sINFOamclInitializing particle filter instance + 14.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.15sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.18sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.18sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.20sINFOvelocity_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. + 14.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.20sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.20sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.20sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.23sINFOlifecycle_manager_navigationCreating + 14.25sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.27sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.273872 seconds + 14.27sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.27sINFOmove_groupLoaded robot model in 0.273872 seconds[0m ×2 + 14.28sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.28sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.28sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.28sINFOcontroller_serverConfiguring controller interface + 14.28sINFOcontroller_servergetting progress checker plugins.. + 14.28sINFOcontroller_servergetting goal checker plugins.. + 14.28sINFOcontroller_serverController frequency set to 20.0000Hz + 14.28sINFOlocal_costmap.local_costmapConfiguring + 14.28sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.29sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.29sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.31sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.34sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.34sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.35sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.38sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.38sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.38sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.38sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.38sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.38sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.39sWARNscan_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 + 14.39sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.39sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.41sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.41sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.42sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.42sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.42sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.42sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.43sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.43sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.43sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.43sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.44sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.44sINFOvideo_server2026/08/19 14:06:10 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.44sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.44sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.45sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.45sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.45sINFOcontroller_serverOptimizer reset ×2 + 14.46sINFOvideo_server2026/08/19 14:06:10 INF configuration loaded from /tmp/moveit-webrtc-jp1nw7mt/mediamtx.yml ×2 + 14.46sINFOvideo_server2026/08/19 14:06:10 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.46sINFOvideo_server2026/08/19 14:06:10 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.46sINFOcontroller_serverController Server has FollowPath controllers available. + 14.49sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.49sINFOsmoother_serverConfiguring smoother server + 14.50sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.51sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.52sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.52sINFOplanner_serverConfiguring + 14.52sINFOglobal_costmap.global_costmapConfiguring + 14.53sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.54sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.54sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.54sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.55sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.57sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.57sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.58sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.63sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 14.63sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 14.63sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.64sINFOplanner_serverPlanner Server has GridBased planners available. + 14.66sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 14.66sINFObehavior_serverConfiguring + 14.66sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 14.68sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 14.70sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 14.70sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 14.71sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 14.72sINFObehavior_serverConfiguring spin + 14.75sINFObehavior_serverConfiguring backup + 14.76sINFObehavior_serverConfiguring drive_on_heading + 14.77sINFObehavior_serverConfiguring assisted_teleop + 14.78sINFObehavior_serverConfiguring wait + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492250 ms (missed cycles : 3). + 14.80sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 14.80sINFObt_navigatorConfiguring + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492250 ms (missed cycles : 3).[0m ×2 + 14.82sINFOamclParticle filter initialization completed + 14.82sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 14.82sINFOamclInitializing particles from estimated pose and covariance + 14.82sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 14.83sINFOamclThe bond connection to the lifecycle manager is now fully formed + 14.83sINFOlifecycle_manager_localizationServer amcl connected with bond. + 14.83sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 14.83sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 14.84sWARNbt_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 + 15.03sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.13sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 15.13sINFOwaypoint_followerConfiguring + 15.13sINFOwaypoint_manager_nodeLoaded robot model in 0.432737 seconds[0m ×2 + 15.13sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.13sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.15sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 15.15sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.15sWARNmove_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. + 15.16sWARNmove_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. + 15.16sWARNmove_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. + 15.16sWARNmove_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. + 15.16sWARNmove_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. + 15.16sWARNmove_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. + 15.16sWARNmove_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. + 15.16sWARNmove_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. + 15.16sWARNmove_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. + 15.16sWARNmove_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. + 15.16sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.16sWARNmove_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 + 15.16sWARNmove_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 + 15.16sWARNmove_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 + 15.16sWARNmove_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 + 15.16sWARNmove_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 + 15.16sWARNmove_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 + 15.16sWARNmove_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 + 15.16sWARNmove_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 + 15.16sWARNmove_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 + 15.16sWARNmove_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 + 15.17sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 15.17sINFOvelocity_smootherConfiguring velocity smoother + 15.19sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 15.19sINFOcontroller_serverActivating + 15.19sINFOlocal_costmap.local_costmapActivating + 15.19sINFOlocal_costmap.local_costmapChecking transform + 15.19sINFOlocal_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 + 15.60sINFOmove_group[2026-08-19 14:06:11.775] [moveit_pro_license] [info] ×2 + 15.61sINFOmove_group************************************************* ×4 + 15.61sINFOmove_group* MoveIt Pro License ×2 + 15.61sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 15.62sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 15.62sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 15.62sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 15.62sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.68sINFOros2_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 + 15.69sINFOros2_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 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.843154 ms (missed cycles : 6). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.843154 ms (missed cycles : 6).[0m ×2 + 15.86sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.86sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.86sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.86sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.86sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.86sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.86sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.87sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.88sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.88sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.88sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.88sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.88sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.88sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.89sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.89sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.89sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.90sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.90sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.90sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.90sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.90sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.91sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.91sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.91sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.91sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.92sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.92sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.92sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.92sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.92sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.93sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.93sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.93sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.93sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.93sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.93sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.93sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.93sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.93sWARNwaypoint_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 + 16.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 16.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.23sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 16.23sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 16.23sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 16.23sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 16.23sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 16.23sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 16.23sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 16.23sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 16.24sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.24sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 16.24sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 16.24sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 16.24sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 16.24sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 16.24sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 16.24sINFOmove_groupStarting planning scene monitor[0m ×2 + 16.24sINFOmove_groupListening to '/planning_scene'[0m ×2 + 16.24sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 16.25sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 16.25sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 16.25sINFOmove_groupListening to 'collision_object'[0m ×2 + 16.25sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 16.45sINFOwaypoint_manager_node[2026-08-19 14:06:12.629] [moveit_pro_license] [info] ×2 + 16.45sINFOwaypoint_manager_node************************************************* ×4 + 16.46sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.46sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.86sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 16.87sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.87sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 16.95sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 16.95sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 16.95sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 16.95sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 16.95sWARNros2_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 + 16.95sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 16.95sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 16.95sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 16.95sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 16.95sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 16.95sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 16.95sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 16.95sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 16.95sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 16.95sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 16.95sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 16.95sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 16.95sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 16.95sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 16.95sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 16.95sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 16.95sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 16.95sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 16.95sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 16.96sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 16.96sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 16.96sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 16.96sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 16.96sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 16.96sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 16.96sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 16.96sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 16.96sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 16.96sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 16.96sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 16.96sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 16.96sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 16.96sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 16.96sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 16.96sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 16.96sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 16.96sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 16.96sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 16.96sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 16.96sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 16.96sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 16.96sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 16.96sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682716 ms (missed cycles : 2). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682716 ms (missed cycles : 2).[0m ×2 + 16.98sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 16.98sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 16.98sWARNros2_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 + 17.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 17.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 17.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 17.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 17.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e + 17.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e [0m ×2 + 17.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 17.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 17.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 17.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 17.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 17.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 17.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 17.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 17.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 17.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 17.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 17.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 17.19sINFOlocal_costmap.local_costmapstart + 17.20sINFOamclParticle filter update iteration stats: 2208 particles 723 points - 4.574ms + 17.22sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 17.29sWARNcontroller_serverParameter controller_server.verbose not found + 17.30sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 17.30sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.40sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 17.40sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 17.40sINFOsmoother_serverActivating + 17.40sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 17.41sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 17.41sINFOcontroller_managerLoading controller 'vacuum_gripper' + 17.42sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 17.42sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 17.42sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e + 17.42sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e [0m ×2 + 17.44sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 17.44sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 17.45sINFOros2-12process has finished cleanly [pid 9548] ×2 + 17.49sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 17.49sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 17.49sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 17.49sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 17.49sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 17.49sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 17.49sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 17.49sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 17.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 17.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 17.50sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.50sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 17.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.50sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.51sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 17.51sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 17.51sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 17.51sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 17.51sINFOplanner_serverActivating + 17.51sINFOglobal_costmap.global_costmapActivating + 17.51sINFOglobal_costmap.global_costmapChecking transform + 17.51sINFOglobal_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 1787148373.649930 but the earliest data is at time 1787148374.251283, when looking up transform from frame [ridgeback_base_link] to frame [map] + 17.52sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 17.52sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 17.52sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 17.52sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 17.52sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 17.52sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 17.53sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 17.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 17.53sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 17.53sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 17.53sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 17.66sINFOobjective_server_node[2026-08-19 14:06:13.835] [moveit_pro_license] [info] ×2 + 17.66sINFOobjective_server_node************************************************* ×4 + 17.66sINFOobjective_server_node* MoveIt Pro License ×2 + 17.66sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 17.72sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 17.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 17.72sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 17.73sINFOobjective_server_nodeLoaded robot model in 0.0279135 seconds[0m ×2 + 17.73sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 17.73sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.75sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 17.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 17.75sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 17.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.79sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.79sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 17.83sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 17.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 17.84sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 17.84sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 17.84sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 17.84sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 17.85sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e + 17.85sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e [0m ×2 + 17.86sINFOros2-14process has finished cleanly [pid 9550] ×2 + 17.91sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 17.92sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 17.92sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 17.92sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 17.92sINFOplatform_velocity_controllerconfigure successful + 17.92sINFOros2_control_nodeconfigure successful[0m ×6 + 17.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 17.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 17.93sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 17.93sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 18.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.00sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133936 ms (missed cycles : 2). + 18.01sINFOglobal_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 1787148374.156952 but the earliest data is at time 1787148374.251283, when looking up transform from frame [ridgeback_base_link] to frame [map] + 18.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133936 ms (missed cycles : 2).[0m ×2 + 18.02sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 18.17sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.17sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.17sWARNobjective_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. + 18.17sWARNobjective_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. + 18.17sWARNobjective_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. + 18.17sWARNobjective_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. + 18.17sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.17sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.17sWARNobjective_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 + 18.17sWARNobjective_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 + 18.17sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.17sWARNobjective_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 + 18.17sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.17sWARNobjective_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 + 18.17sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.17sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.18sWARNobjective_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 + 18.18sWARNobjective_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 + 18.18sWARNobjective_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 + 18.18sWARNobjective_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 + 18.18sWARNobjective_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 + 18.18sWARNobjective_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 + 18.25sINFOobjective_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 + 18.25sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.26sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 18.26sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 18.26sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 18.26sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 18.27sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.27sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.27sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.27sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.27sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.27sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.27sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.28sINFOros2-13process has finished cleanly [pid 9549] ×2 + 18.37sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e + 18.37sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e [0m ×2 + 18.42sINFOcomponent_container_mtLoaded robot model in 0.401212 seconds[0m ×2 + 18.42sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.42sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.43sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 18.43sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 18.43sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 18.43sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 18.44sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.44sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.47sINFOmove_groupMoveGroup debug mode is ON + 18.47sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.48sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.51sINFOglobal_costmap.global_costmapstart + 18.51sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.52sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.52sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.52sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.52sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.52sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.52sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.57sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.63sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+ 18.63sINFOmove_group ×8 + 18.63sINFOmove_group******************************************************** ×4 + 18.63sINFOmove_group* MoveGroup using: ×2 + 18.63sINFOmove_group* - apply_planning_scene_service ×2 + 18.63sINFOmove_group* - clear_octomap_service ×2 + 18.63sINFOmove_group* - get_group_urdf ×2 + 18.63sINFOmove_group* - load_geometry_from_file ×2 + 18.63sINFOmove_group* - get_planning_scene_service ×2 + 18.63sINFOmove_group* - kinematics_service ×2 + 18.63sINFOmove_group* - save_geometry_to_file ×2 + 18.63sINFOmove_group* - GetPlanningGroups ×2 + 18.63sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.63sINFOmove_group[0m ×2 + 18.64sINFOmove_group[92mYou can start planning now![0m ×2 + 18.66sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 18.66sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 18.73sWARNros2_control_nodeCamera render tick took 0.67 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 + 18.91sINFOros2_control_node[2026-08-19 14:06:15.088] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 18.91sINFOros2_control_node[2026-08-19 14:06:15.091] [info] Controller state will be published at 10 Hz. ×2 + 18.92sINFOros2_control_node[2026-08-19 14:06:15.092] [info] VelocityForceController 'on_configure' succeeded. ×2 + 18.93sWARNplanning_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. + 18.93sWARNplanning_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. + 18.94sWARNplanning_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. + 18.94sWARNcomponent_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 + 18.94sWARNplanning_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. + 18.94sWARNplanning_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. + 18.94sWARNplanning_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. + 18.94sWARNplanning_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. + 18.94sWARNcomponent_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 + 18.94sWARNplanning_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. + 18.94sWARNcomponent_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 + 18.94sWARNcomponent_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 + 18.94sWARNcomponent_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 + 18.94sWARNplanning_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. + 18.94sWARNcomponent_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 + 18.94sWARNplanning_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. + 18.94sWARNcomponent_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 + 18.94sWARNplanning_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. + 18.94sWARNcomponent_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 + 18.94sWARNplanning_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. + 18.94sWARNcomponent_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 + 18.94sWARNcomponent_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 + 18.94sWARNplanning_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. + 18.94sWARNplanning_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. + 18.94sWARNcomponent_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 + 18.94sWARNplanning_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. + 18.94sWARNcomponent_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 + 18.94sWARNplanning_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. + 18.94sWARNplanning_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. + 18.94sWARNplanning_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. + 18.94sWARNcomponent_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 + 18.94sWARNplanning_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. + 18.94sWARNcomponent_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 + 18.94sWARNplanning_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. + 18.94sWARNcomponent_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 + 18.94sWARNcomponent_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 + 18.94sWARNcomponent_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 + 18.94sWARNplanning_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. + 18.94sWARNplanning_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. + 18.94sWARNcomponent_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 + 18.94sWARNcomponent_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 + 18.95sWARNcomponent_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 + 18.95sWARNcomponent_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 + 18.95sWARNcomponent_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 + 18.95sWARNplanning_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. + 18.95sWARNcomponent_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 + 18.95sWARNplanning_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. + 18.95sWARNcomponent_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 + 18.95sWARNplanning_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. + 18.95sWARNplanning_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. + 18.95sWARNcomponent_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 + 18.95sWARNplanning_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. + 18.95sWARNplanning_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. + 18.95sWARNcomponent_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 + 18.95sWARNcomponent_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 + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327739 ms (missed cycles : 2). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327739 ms (missed cycles : 2).[0m ×2 + 19.12sINFOcomponent_container_mt[2026-08-19 14:06:15.298] [moveit_pro_license] [info] ×2 + 19.12sINFOcomponent_container_mt************************************************* ×4 + 19.12sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.12sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.24sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 19.24sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 19.24sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 19.24sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 19.26sINFOros2-18process has finished cleanly [pid 9554] ×2 + 19.31sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e + 19.31sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e [0m ×2 + 19.38sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 19.38sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 19.38sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 19.38sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 19.47sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.47sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.48sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.57sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 19.57sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 19.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.63sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 19.67sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 19.67sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 19.67sINFObehavior_serverActivating + 19.67sINFObehavior_serverActivating spin + 19.67sINFObehavior_serverActivating backup + 19.67sINFObehavior_serverActivating drive_on_heading + 19.67sINFObehavior_serverActivating assisted_teleop + 19.67sINFObehavior_serverActivating wait + 19.67sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 19.75sINFOros2_control_node[2026-08-19 14:06:15.924] [info] Controller state will be published at 20 Hz. ×2 + 19.75sINFOros2_control_node[2026-08-19 14:06:15.925] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.78sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 19.78sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 19.78sINFObt_navigatorActivating + 19.83sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 19.93sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 19.93sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 19.93sINFOwaypoint_followerActivating + 19.93sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 19.96sWARNobjective_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 + 20.04sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 20.04sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 20.04sINFOvelocity_smootherActivating + 20.04sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 20.09sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 20.09sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 20.09sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e + 20.09sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 20.09sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 20.09sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e [0m ×2 + 20.10sINFOros2-20process has finished cleanly [pid 9556] ×2 + 20.14sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 20.14sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 20.14sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 20.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 20.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 20.15sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 20.15sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 20.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943250 ms (missed cycles : 2). + 20.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943250 ms (missed cycles : 2).[0m ×2 + 20.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 20.51sINFOros2_control_node[2026-08-19 14:06:16.690] [info] Controller state will be published at 20 Hz. ×2 + 20.51sINFOros2_control_node[2026-08-19 14:06:16.691] [info] JointVelocityController 'on_configure' succeeded. ×2 + 20.86sINFOros2-19process has finished cleanly [pid 9555] ×2 + 20.88sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 20.88sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 20.88sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 20.88sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 20.88sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e + 20.89sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e [0m ×2 + 20.94sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 20.94sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 20.94sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 20.94sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 20.95sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 20.95sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 20.96sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 20.96sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 21.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950516 ms (missed cycles : 2). + 21.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950516 ms (missed cycles : 2).[0m ×2 + 21.30sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 21.30sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 21.30sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e + 21.30sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 21.30sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 21.30sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e [0m ×2 + 21.30sINFOros2-11process has finished cleanly [pid 9547] ×2 + 21.38sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 21.38sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 21.38sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 21.38sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 21.38sINFOplatform_velocity_controller_nav2configure successful + 21.79sINFOros2-15process has finished cleanly [pid 9551] ×2 + 21.81sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 21.81sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 21.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 21.81sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 21.81sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e + 21.81sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e [0m ×2 + 21.91sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 21.91sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 21.91sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 21.91sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 21.91sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 21.91sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 21.92sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 21.92sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 21.92sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 21.92sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 21.92sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 21.92sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 21.92sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 21.93sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 21.93sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 22.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198536 ms (missed cycles : 2). + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198536 ms (missed cycles : 2).[0m ×2 + 22.29sINFOros2-16process has finished cleanly [pid 9552] ×2 + 22.31sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 22.31sINFOcontroller_managerLoading controller 'velocity_force_controller' + 22.31sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e + 22.31sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 22.31sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 22.31sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e [0m ×2 + 22.37sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 22.37sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 22.38sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 22.38sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 22.74sINFOros2_control_node[2026-08-19 14:06:18.915] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 22.74sINFOros2_control_node[2026-08-19 14:06:18.917] [info] Controller state will be published at 10 Hz. ×2 + 22.74sINFOros2_control_node[2026-08-19 14:06:18.918] [info] VelocityForceController 'on_configure' succeeded. ×2 + 23.09sINFOros2-17process has finished cleanly [pid 9553] ×2 + 23.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 23.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 23.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 23.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 23.13sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e + 23.13sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_js260lwb --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_ke7updbr --params-file /tmp/launch_params_u0wft36e [0m ×2 + 23.20sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 23.20sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 23.21sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 23.21sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 23.21sINFOforce_torque_sensor_broadcasterconfigure successful + 23.22sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 23.22sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 23.22sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 23.22sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 23.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225139 ms (missed cycles : 2). + 23.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225139 ms (missed cycles : 2).[0m ×2 + 23.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 23.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 23.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 23.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 23.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 23.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 23.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 23.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 23.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 23.46sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 23.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 23.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 23.55sINFOros2-10process has finished cleanly [pid 9546] ×2 + 24.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196860 ms (missed cycles : 2). + 24.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196860 ms (missed cycles : 2).[0m ×2 + 25.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405682 ms (missed cycles : 2). + 25.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405682 ms (missed cycles : 2).[0m ×2 + 26.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 26.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 26.99sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 27.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2). + 27.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 28.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 28.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 28.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 28.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 28.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 28.64sINFOmove_groupClearing octomap...[0m ×2 + 28.64sINFOmove_groupOctomap cleared.[0m ×2 + 28.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 29.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 29.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 29.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 30.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 30.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.60sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 30.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 30.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 30.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 30.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 30.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 76.0s | 3 errors · 235 warnings · 242 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.592ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398733 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398733 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.460ms + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.807ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880300 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880300 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.691ms + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.199ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578619 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578619 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 4714 particles 723 points - 5.933ms + 3.00sINFOamclParticle filter update iteration stats: 3648 particles 723 points - 4.875ms + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394348 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394348 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 2575 particles 723 points - 4.763ms + 3.86sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOjoint_trajectory_controllerGot request to cancel goal + 3.87sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.87sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.87sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.89sERRORobjective_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: 1787148594.97499871 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-0.65, 3.24) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-1.55, 3.22) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.99sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 2.564ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.606ms + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280577 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280577 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787148595.57335496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150467 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150467 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897300 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897300 ms (missed cycles : 2).[0m ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.63sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.63sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.63sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.63sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857380 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857380 ms (missed cycles : 2).[0m ×2 + 8.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.486ms + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256967 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256967 ms (missed cycles : 2).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.679ms + 9.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.264ms + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678150 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678150 ms (missed cycles : 2).[0m ×2 + 10.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.733ms + 10.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.905ms + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525381 ms (missed cycles : 3). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525381 ms (missed cycles : 3).[0m ×2 + 11.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.207ms + 11.60sINFOamclParticle filter update iteration stats: 4880 particles 723 points - 5.600ms + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972932 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972932 ms (missed cycles : 3).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 3024 particles 723 points - 4.255ms + 12.60sINFOamclParticle filter update iteration stats: 1967 particles 723 points - 3.826ms + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955937 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955937 ms (missed cycles : 2).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 2.398ms + 13.59sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.370ms + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437432 ms (missed cycles : 3). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437432 ms (missed cycles : 3).[0m ×2 + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 14.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.069ms + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349554 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349554 ms (missed cycles : 2).[0m ×2 + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.362ms + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396075 ms (missed cycles : 3). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396075 ms (missed cycles : 3).[0m ×2 + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 16.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms ×2 + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636052 ms (missed cycles : 3). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636052 ms (missed cycles : 3).[0m ×2 + 17.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 17.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667091 ms (missed cycles : 4). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667091 ms (missed cycles : 4).[0m ×2 + 18.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 19.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865149 ms (missed cycles : 3). + 19.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865149 ms (missed cycles : 3).[0m ×2 + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741113 ms (missed cycles : 2). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741113 ms (missed cycles : 2).[0m ×2 + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005257 ms (missed cycles : 3). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005257 ms (missed cycles : 3).[0m ×2 + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 22.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592151 ms (missed cycles : 2). + 22.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592151 ms (missed cycles : 2).[0m ×2 + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms ×2 + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 23.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784518 ms (missed cycles : 3). + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784518 ms (missed cycles : 3).[0m ×2 + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms + 24.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710422 ms (missed cycles : 3). + 24.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710422 ms (missed cycles : 3).[0m ×2 + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.351ms + 25.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081168 ms (missed cycles : 3). + 25.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081168 ms (missed cycles : 3).[0m ×2 + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms ×2 + 26.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172983 ms (missed cycles : 4). + 26.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172983 ms (missed cycles : 4).[0m ×2 + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 27.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342987 ms (missed cycles : 2). + 27.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342987 ms (missed cycles : 2).[0m ×2 + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 28.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866340 ms (missed cycles : 2). + 28.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866340 ms (missed cycles : 2).[0m ×2 + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873685 ms (missed cycles : 3). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873685 ms (missed cycles : 3).[0m ×2 + 30.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 30.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731835 ms (missed cycles : 3). + 30.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731835 ms (missed cycles : 3).[0m ×2 + 31.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.259ms + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms ×3 + 32.10sINFOros2_control_nodeMuJoCo sim: 0.10% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490333 ms (missed cycles : 4). + 32.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490333 ms (missed cycles : 4).[0m ×2 + 33.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411843 ms (missed cycles : 2). + 33.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411843 ms (missed cycles : 2).[0m ×2 + 33.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.181ms + 33.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276830 ms (missed cycles : 3). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276830 ms (missed cycles : 3).[0m ×2 + 35.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341399 ms (missed cycles : 3). + 35.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341399 ms (missed cycles : 3).[0m ×2 + 35.35sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.17sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 36.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166213 ms (missed cycles : 3). + 36.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166213 ms (missed cycles : 3).[0m ×2 + 37.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285676 ms (missed cycles : 3). + 37.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285676 ms (missed cycles : 3).[0m ×2 + 38.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 38.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235927 ms (missed cycles : 3). + 38.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235927 ms (missed cycles : 3).[0m ×2 + 38.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 39.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 39.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804636 ms (missed cycles : 3). + 39.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804636 ms (missed cycles : 3).[0m ×2 + 39.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 40.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.174ms + 40.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.790ms + 40.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851243 ms (missed cycles : 2). + 40.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851243 ms (missed cycles : 2).[0m ×2 + 41.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 41.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593548 ms (missed cycles : 3). + 41.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593548 ms (missed cycles : 3).[0m ×2 + 42.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661572 ms (missed cycles : 3). + 42.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661572 ms (missed cycles : 3).[0m ×2 + 44.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406321 ms (missed cycles : 2). + 44.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406321 ms (missed cycles : 2).[0m ×2 + 45.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132490 ms (missed cycles : 3). + 45.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132490 ms (missed cycles : 3).[0m ×2 + 45.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 46.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025281 ms (missed cycles : 3). + 46.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025281 ms (missed cycles : 3).[0m ×2 + 46.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 47.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 47.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558574 ms (missed cycles : 3). + 47.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558574 ms (missed cycles : 3).[0m ×2 + 48.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825345 ms (missed cycles : 3). + 48.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825345 ms (missed cycles : 3).[0m ×2 + 48.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 49.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 49.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294007 ms (missed cycles : 2). + 49.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294007 ms (missed cycles : 2).[0m ×2 + 50.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685295 ms (missed cycles : 2). + 50.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685295 ms (missed cycles : 2).[0m ×2 + 51.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948770 ms (missed cycles : 2). + 51.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948770 ms (missed cycles : 2).[0m ×2 + 52.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 52.67sINFOobjective_server_nodePlanning for 47 path waypoints. ×3 + 52.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269888 ms (missed cycles : 4). + 52.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269888 ms (missed cycles : 4).[0m ×2 + 53.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981980 ms (missed cycles : 3). + 53.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981980 ms (missed cycles : 3).[0m ×2 + 54.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041809 ms (missed cycles : 2). + 54.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041809 ms (missed cycles : 2).[0m ×2 + 55.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993635 ms (missed cycles : 3). + 55.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993635 ms (missed cycles : 3).[0m ×2 + 57.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.205801 ms (missed cycles : 4). + 57.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.205801 ms (missed cycles : 4).[0m ×2 + 57.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 58.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344366 ms (missed cycles : 3). + 58.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344366 ms (missed cycles : 3).[0m ×2 + 58.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 59.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845518 ms (missed cycles : 3). + 59.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845518 ms (missed cycles : 3).[0m ×2 + 59.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 60.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003117 ms (missed cycles : 3). + 60.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003117 ms (missed cycles : 3).[0m ×2 + 61.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507194 ms (missed cycles : 3). + 61.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507194 ms (missed cycles : 3).[0m ×2 + 61.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.164ms + 62.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774244 ms (missed cycles : 2). + 62.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774244 ms (missed cycles : 2).[0m ×2 + 62.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 63.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665314 ms (missed cycles : 3). + 63.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665314 ms (missed cycles : 3).[0m ×2 + 63.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 64.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942895 ms (missed cycles : 2). + 64.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942895 ms (missed cycles : 2).[0m ×2 + 65.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 65.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910945 ms (missed cycles : 2). + 65.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910945 ms (missed cycles : 2).[0m ×2 + 66.42sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 66.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128350 ms (missed cycles : 3). + 66.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128350 ms (missed cycles : 3).[0m ×2 + 67.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329889 ms (missed cycles : 2). + 67.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329889 ms (missed cycles : 2).[0m ×2 + 68.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms ×2 + 68.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609092 ms (missed cycles : 3). + 68.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609092 ms (missed cycles : 3).[0m ×2 + 69.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692378 ms (missed cycles : 2). + 69.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692378 ms (missed cycles : 2).[0m ×2 + 70.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537442 ms (missed cycles : 3). + 70.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537442 ms (missed cycles : 3).[0m ×2 + 70.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 71.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824293 ms (missed cycles : 3). + 71.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824293 ms (missed cycles : 3).[0m ×2 + 72.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.215ms + 72.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522769 ms (missed cycles : 2). + 72.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522769 ms (missed cycles : 2).[0m ×2 + 73.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 73.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918139 ms (missed cycles : 3). + 73.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918139 ms (missed cycles : 3).[0m ×2 + 73.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 75.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376335 ms (missed cycles : 3). + 75.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376335 ms (missed cycles : 3).[0m ×2 + 75.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 76.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969125 ms (missed cycles : 3). + 76.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969125 ms (missed cycles : 3).[0m ×2 + 77.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427514 ms (missed cycles : 4). + 77.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427514 ms (missed cycles : 4).[0m ×2 + 77.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.208ms + 78.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588784 ms (missed cycles : 4). + 78.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588784 ms (missed cycles : 4).[0m ×2 + 78.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 79.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306823 ms (missed cycles : 2). + 79.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306823 ms (missed cycles : 2).[0m ×2 + 79.84sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787148670.92363620 seconds ×3 + 79.99sWARNlocal_costmap.local_costmapSensor origin at (-2.10, 13.18) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 79.99sWARNlocal_costmap.local_costmapSensor origin at (-2.90, 12.76) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 79.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 80.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.316ms + 80.44sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787148671.52432609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 80.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933125 ms (missed cycles : 3). + 80.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933125 ms (missed cycles : 3).[0m ×2 + 81.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253319 ms (missed cycles : 2). + 81.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253319 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.2s | 182 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817073 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817073 ms (missed cycles : 3).[0m ×2 + 0.04sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.04sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787148430.33628774 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.29sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 1.972ms + 0.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787148430.91733766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855465 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855465 ms (missed cycles : 2).[0m ×2 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (2.2011e-05 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.64sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.64sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.64sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.64sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816562 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816562 ms (missed cycles : 3).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629400 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629400 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787148433.62747145 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787148434.21209407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719308 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719308 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018102 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018102 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194075 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194075 ms (missed cycles : 3).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256064 ms (missed cycles : 3). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256064 ms (missed cycles : 3).[0m ×2 + 8.29sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 1.744ms + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537359 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537359 ms (missed cycles : 2).[0m ×2 + 8.89sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.672ms + 9.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183973 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183973 ms (missed cycles : 2).[0m ×2 + 9.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 10.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705377 ms (missed cycles : 3). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705377 ms (missed cycles : 3).[0m ×2 + 10.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 11.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808409 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808409 ms (missed cycles : 2).[0m ×2 + 11.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 12.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203407 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203407 ms (missed cycles : 3).[0m ×2 + 12.88sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.072ms + 13.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473109 ms (missed cycles : 3). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473109 ms (missed cycles : 3).[0m ×2 + 13.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms ×2 + 14.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907104 ms (missed cycles : 3). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907104 ms (missed cycles : 3).[0m ×2 + 15.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 15.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778653 ms (missed cycles : 2). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778653 ms (missed cycles : 2).[0m ×2 + 16.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms ×2 + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347788 ms (missed cycles : 3). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347788 ms (missed cycles : 3).[0m ×2 + 17.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 18.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930478 ms (missed cycles : 2). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930478 ms (missed cycles : 2).[0m ×2 + 18.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms ×2 + 18.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.259ms + 19.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769287 ms (missed cycles : 2). + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769287 ms (missed cycles : 2).[0m ×2 + 19.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792050 ms (missed cycles : 3). + 20.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792050 ms (missed cycles : 3).[0m ×2 + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 21.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 21.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532029 ms (missed cycles : 3). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532029 ms (missed cycles : 3).[0m ×2 + 21.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 22.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms ×2 + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927853 ms (missed cycles : 3). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927853 ms (missed cycles : 3).[0m ×2 + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 23.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908714 ms (missed cycles : 3). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908714 ms (missed cycles : 3).[0m ×2 + 23.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 24.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.243ms + 24.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049372 ms (missed cycles : 3). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049372 ms (missed cycles : 3).[0m ×2 + 24.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 25.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311068 ms (missed cycles : 3). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311068 ms (missed cycles : 3).[0m ×2 + 25.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 26.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588460 ms (missed cycles : 3). + 26.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588460 ms (missed cycles : 3).[0m ×2 + 26.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.076ms + 27.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 27.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666387 ms (missed cycles : 3). + 27.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666387 ms (missed cycles : 3).[0m ×2 + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179040 ms (missed cycles : 2). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179040 ms (missed cycles : 2).[0m ×2 + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299145 ms (missed cycles : 3). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299145 ms (missed cycles : 3).[0m ×2 + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 30.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 31.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960389 ms (missed cycles : 3). + 31.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960389 ms (missed cycles : 3).[0m ×2 + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms ×2 + 32.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771047 ms (missed cycles : 2). + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771047 ms (missed cycles : 2).[0m ×2 + 32.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 33.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281743 ms (missed cycles : 2). + 33.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281743 ms (missed cycles : 2).[0m ×2 + 34.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312611 ms (missed cycles : 4). + 34.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312611 ms (missed cycles : 4).[0m ×2 + 34.91sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004895 ms (missed cycles : 4). + 35.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004895 ms (missed cycles : 4).[0m ×2 + 36.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904402 ms (missed cycles : 4). + 36.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904402 ms (missed cycles : 4).[0m ×2 + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311359 ms (missed cycles : 4). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311359 ms (missed cycles : 4).[0m ×2 + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249410 ms (missed cycles : 2). + 38.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249410 ms (missed cycles : 2).[0m ×2 + 39.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176913 ms (missed cycles : 4). + 39.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176913 ms (missed cycles : 4).[0m ×2 + 40.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623417 ms (missed cycles : 2). + 40.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623417 ms (missed cycles : 2).[0m ×2 + 40.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 41.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529097 ms (missed cycles : 3). + 41.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529097 ms (missed cycles : 3).[0m ×2 + 42.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672437 ms (missed cycles : 2). + 42.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672437 ms (missed cycles : 2).[0m ×2 + 43.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486474 ms (missed cycles : 2). + 43.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486474 ms (missed cycles : 2).[0m ×2 + 44.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736733 ms (missed cycles : 3). + 44.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736733 ms (missed cycles : 3).[0m ×2 + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123929 ms (missed cycles : 3). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123929 ms (missed cycles : 3).[0m ×2 + 46.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152033 ms (missed cycles : 2). + 46.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152033 ms (missed cycles : 2).[0m ×2 + 48.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251253 ms (missed cycles : 2). + 48.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251253 ms (missed cycles : 2).[0m ×2 + 48.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 49.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843505 ms (missed cycles : 3). + 49.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843505 ms (missed cycles : 3).[0m ×2 + 50.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528000 ms (missed cycles : 4). + 50.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528000 ms (missed cycles : 4).[0m ×2 + 51.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633805 ms (missed cycles : 3). + 51.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633805 ms (missed cycles : 3).[0m ×2 + 52.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970710 ms (missed cycles : 3). + 52.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970710 ms (missed cycles : 3).[0m ×2 + 53.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529375 ms (missed cycles : 3). + 53.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529375 ms (missed cycles : 3).[0m ×2 + 54.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048810 ms (missed cycles : 2). + 54.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048810 ms (missed cycles : 2).[0m ×2 + 55.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880872 ms (missed cycles : 3). + 55.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880872 ms (missed cycles : 3).[0m ×2 + 55.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 56.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389466 ms (missed cycles : 3). + 56.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389466 ms (missed cycles : 3).[0m ×2 + 57.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638860 ms (missed cycles : 2). + 57.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638860 ms (missed cycles : 2).[0m ×2 + 58.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818823 ms (missed cycles : 3). + 58.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818823 ms (missed cycles : 3).[0m ×2 + 59.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 59.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261966 ms (missed cycles : 4). + 59.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261966 ms (missed cycles : 4).[0m ×2 + 60.50sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787148490.78222609 seconds ×3 + 60.58sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.58sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.968ms + 61.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115521 ms (missed cycles : 2). + 61.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115521 ms (missed cycles : 2).[0m ×2 + 61.08sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787148491.36877584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.50sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 61.69sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063453 ms (missed cycles : 2). + 62.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063453 ms (missed cycles : 2).[0m ×2 + 63.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552523 ms (missed cycles : 3). + 63.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552523 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 56.9s | 179 warnings · 172 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172159 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172159 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772936 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772936 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692238 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692238 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206481 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206481 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.37sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787148677.44445777 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787148678.03875661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770405 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770405 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999030 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999030 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.23sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.23sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.23sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.23sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369068 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369068 ms (missed cycles : 3).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759103 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759103 ms (missed cycles : 2).[0m ×2 + 8.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.947ms + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983488 ms (missed cycles : 3). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983488 ms (missed cycles : 3).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.155ms + 9.11sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.304ms + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621329 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621329 ms (missed cycles : 3).[0m ×2 + 9.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.254ms + 10.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.913ms + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420279 ms (missed cycles : 3). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420279 ms (missed cycles : 3).[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.432ms + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.365ms + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776011 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776011 ms (missed cycles : 3).[0m ×2 + 11.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.359ms + 12.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.981ms + 12.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.704ms + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620610 ms (missed cycles : 3). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620610 ms (missed cycles : 3).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.328ms + 13.70sINFOamclParticle filter update iteration stats: 4466 particles 723 points - 5.824ms + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950797 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950797 ms (missed cycles : 2).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 3586 particles 723 points - 6.203ms + 14.70sINFOamclParticle filter update iteration stats: 2586 particles 723 points - 4.225ms + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585617 ms (missed cycles : 3). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585617 ms (missed cycles : 3).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 2.774ms + 15.70sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 2.052ms + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413666 ms (missed cycles : 3). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413666 ms (missed cycles : 3).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.814ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831566 ms (missed cycles : 3). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831566 ms (missed cycles : 3).[0m ×2 + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.226ms + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760644 ms (missed cycles : 2). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760644 ms (missed cycles : 2).[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 19.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931781 ms (missed cycles : 3). + 19.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931781 ms (missed cycles : 3).[0m ×2 + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.288ms + 20.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111027 ms (missed cycles : 2). + 20.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111027 ms (missed cycles : 2).[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.276ms + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498725 ms (missed cycles : 3). + 21.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498725 ms (missed cycles : 3).[0m ×2 + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms ×2 + 22.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877188 ms (missed cycles : 3). + 22.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877188 ms (missed cycles : 3).[0m ×2 + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.165ms + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.118ms + 23.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399688 ms (missed cycles : 3). + 23.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399688 ms (missed cycles : 3).[0m ×2 + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 24.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860099 ms (missed cycles : 3). + 24.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860099 ms (missed cycles : 3).[0m ×2 + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.196ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.243ms + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513443 ms (missed cycles : 3). + 25.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513443 ms (missed cycles : 3).[0m ×2 + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 26.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731140 ms (missed cycles : 3). + 26.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731140 ms (missed cycles : 3).[0m ×2 + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 27.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245970 ms (missed cycles : 4). + 27.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245970 ms (missed cycles : 4).[0m ×2 + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.069ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 28.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238009 ms (missed cycles : 4). + 28.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238009 ms (missed cycles : 4).[0m ×2 + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 29.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949993 ms (missed cycles : 3). + 29.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949993 ms (missed cycles : 3).[0m ×2 + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms + 30.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625438 ms (missed cycles : 3). + 30.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625438 ms (missed cycles : 3).[0m ×2 + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.208ms + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.201ms + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 31.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968804 ms (missed cycles : 3). + 31.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968804 ms (missed cycles : 3).[0m ×2 + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680739 ms (missed cycles : 2). + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680739 ms (missed cycles : 2).[0m ×2 + 33.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.261ms + 33.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108124 ms (missed cycles : 4). + 33.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108124 ms (missed cycles : 4).[0m ×2 + 34.65sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738496 ms (missed cycles : 3). + 34.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738496 ms (missed cycles : 3).[0m ×2 + 36.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520464 ms (missed cycles : 4). + 36.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520464 ms (missed cycles : 4).[0m ×2 + 37.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368598 ms (missed cycles : 3). + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368598 ms (missed cycles : 3).[0m ×2 + 38.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168170 ms (missed cycles : 3). + 38.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168170 ms (missed cycles : 3).[0m ×2 + 39.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947598 ms (missed cycles : 2). + 39.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947598 ms (missed cycles : 2).[0m ×2 + 40.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713239 ms (missed cycles : 3). + 40.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713239 ms (missed cycles : 3).[0m ×2 + 40.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.129ms + 41.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212179 ms (missed cycles : 3). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212179 ms (missed cycles : 3).[0m ×2 + 42.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461255 ms (missed cycles : 3). + 42.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461255 ms (missed cycles : 3).[0m ×2 + 43.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509775 ms (missed cycles : 3). + 43.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509775 ms (missed cycles : 3).[0m ×2 + 44.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083175 ms (missed cycles : 4). + 44.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083175 ms (missed cycles : 4).[0m ×2 + 45.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968889 ms (missed cycles : 3). + 45.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968889 ms (missed cycles : 3).[0m ×2 + 46.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285700 ms (missed cycles : 2). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285700 ms (missed cycles : 2).[0m ×2 + 47.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.573139 ms (missed cycles : 4). + 47.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.573139 ms (missed cycles : 4).[0m ×2 + 48.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.211ms + 49.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771231 ms (missed cycles : 2). + 49.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771231 ms (missed cycles : 2).[0m ×2 + 50.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546325 ms (missed cycles : 3). + 50.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546325 ms (missed cycles : 3).[0m ×2 + 51.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613157 ms (missed cycles : 3). + 51.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613157 ms (missed cycles : 3).[0m ×2 + 51.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 52.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876974 ms (missed cycles : 3). + 52.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876974 ms (missed cycles : 3).[0m ×2 + 53.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957795 ms (missed cycles : 3). + 53.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957795 ms (missed cycles : 3).[0m ×2 + 54.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442590 ms (missed cycles : 4). + 54.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442590 ms (missed cycles : 4).[0m ×2 + 55.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604812 ms (missed cycles : 3). + 55.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604812 ms (missed cycles : 3).[0m ×2 + 55.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.143ms + 56.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303618 ms (missed cycles : 3). + 56.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303618 ms (missed cycles : 3).[0m ×2 + 57.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488708 ms (missed cycles : 3). + 57.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488708 ms (missed cycles : 3).[0m ×2 + 58.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472134 ms (missed cycles : 3). + 58.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472134 ms (missed cycles : 3).[0m ×2 + 59.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 59.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474491 ms (missed cycles : 4). + 59.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474491 ms (missed cycles : 4).[0m ×2 + 60.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787148734.34888601 seconds ×3 + 60.39sWARNlocal_costmap.local_costmapSensor origin at (-1.21, 6.12) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.39sWARNlocal_costmap.local_costmapSensor origin at (-2.11, 6.14) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.463ms + 60.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.055ms + 60.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855233 ms (missed cycles : 2). + 60.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855233 ms (missed cycles : 2).[0m ×2 + 60.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787148734.93967009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.23sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 61.41sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718924 ms (missed cycles : 2). + 61.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718924 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 55.1s | 183 warnings · 193 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926611 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926611 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922927 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922927 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689303 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689303 ms (missed cycles : 4).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036740 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036740 ms (missed cycles : 3).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.96sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787148529.17240429 seconds ×3 + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.202ms + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977061 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977061 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787148529.75147462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931120 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931120 ms (missed cycles : 3).[0m ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×4 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220411 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220411 ms (missed cycles : 2).[0m ×2 + 6.64sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.64sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.64sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.64sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028217 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028217 ms (missed cycles : 2).[0m ×2 + 8.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.153ms + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878482 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878482 ms (missed cycles : 2).[0m ×2 + 9.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.337ms + 9.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.657ms + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290928 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290928 ms (missed cycles : 2).[0m ×2 + 10.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.025ms + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.036ms + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970806 ms (missed cycles : 3). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970806 ms (missed cycles : 3).[0m ×2 + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.650ms + 11.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.933ms + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918374 ms (missed cycles : 3). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918374 ms (missed cycles : 3).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.361ms + 12.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.778ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796595 ms (missed cycles : 3). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796595 ms (missed cycles : 3).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.109ms + 13.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.554ms + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043353 ms (missed cycles : 4). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043353 ms (missed cycles : 4).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.844ms + 14.61sINFOamclParticle filter update iteration stats: 4466 particles 723 points - 7.590ms + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461292 ms (missed cycles : 3). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461292 ms (missed cycles : 3).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 4394 particles 723 points - 5.711ms + 15.60sINFOamclParticle filter update iteration stats: 4187 particles 723 points - 5.086ms + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653242 ms (missed cycles : 3). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653242 ms (missed cycles : 3).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 4021 particles 723 points - 5.144ms + 16.60sINFOamclParticle filter update iteration stats: 3606 particles 723 points - 4.348ms + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992590 ms (missed cycles : 2). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992590 ms (missed cycles : 2).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 3066 particles 723 points - 4.054ms + 17.60sINFOamclParticle filter update iteration stats: 2711 particles 723 points - 3.483ms + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663675 ms (missed cycles : 2). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663675 ms (missed cycles : 2).[0m ×2 + 18.11sINFOamclParticle filter update iteration stats: 2387 particles 723 points - 4.105ms + 18.60sINFOamclParticle filter update iteration stats: 2040 particles 723 points - 2.787ms + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294431 ms (missed cycles : 2). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294431 ms (missed cycles : 2).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 1788 particles 723 points - 2.438ms + 19.59sINFOamclParticle filter update iteration stats: 1766 particles 723 points - 2.492ms + 20.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036503 ms (missed cycles : 2). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036503 ms (missed cycles : 2).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1417 particles 723 points - 2.082ms + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.818ms + 21.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722591 ms (missed cycles : 2). + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.859ms + 21.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722591 ms (missed cycles : 2).[0m ×2 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 22.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945133 ms (missed cycles : 3). + 22.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945133 ms (missed cycles : 3).[0m ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.148ms + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 23.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263223 ms (missed cycles : 2). + 23.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263223 ms (missed cycles : 2).[0m ×2 + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993408 ms (missed cycles : 3). + 24.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993408 ms (missed cycles : 3).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 25.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458395 ms (missed cycles : 2). + 25.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458395 ms (missed cycles : 2).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 26.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680267 ms (missed cycles : 2). + 26.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680267 ms (missed cycles : 2).[0m ×2 + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 27.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528679 ms (missed cycles : 3). + 27.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528679 ms (missed cycles : 3).[0m ×2 + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.083ms + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 28.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272735 ms (missed cycles : 4). + 28.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272735 ms (missed cycles : 4).[0m ×2 + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 29.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249940 ms (missed cycles : 4). + 29.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249940 ms (missed cycles : 4).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.297ms + 30.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427337 ms (missed cycles : 3). + 30.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427337 ms (missed cycles : 3).[0m ×2 + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.287ms + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 31.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783033 ms (missed cycles : 3). + 31.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783033 ms (missed cycles : 3).[0m ×2 + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms ×2 + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 32.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641893 ms (missed cycles : 2). + 32.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641893 ms (missed cycles : 2).[0m ×2 + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms ×2 + 33.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 33.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626213 ms (missed cycles : 3). + 33.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626213 ms (missed cycles : 3).[0m ×2 + 34.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 34.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574171 ms (missed cycles : 3). + 34.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574171 ms (missed cycles : 3).[0m ×2 + 35.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100211 ms (missed cycles : 4). + 35.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100211 ms (missed cycles : 4).[0m ×2 + 36.73sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705379 ms (missed cycles : 3). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705379 ms (missed cycles : 3).[0m ×2 + 37.44sINFOobjective_server_nodePlanning for 51 path waypoints. ×3 + 37.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247536 ms (missed cycles : 2). + 37.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247536 ms (missed cycles : 2).[0m ×2 + 38.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 38.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555025 ms (missed cycles : 3). + 38.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555025 ms (missed cycles : 3).[0m ×2 + 39.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 39.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 39.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716079 ms (missed cycles : 4). + 39.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716079 ms (missed cycles : 4).[0m ×2 + 40.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 40.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 40.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644220 ms (missed cycles : 2). + 40.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644220 ms (missed cycles : 2).[0m ×2 + 41.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 41.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms ×2 + 42.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626629 ms (missed cycles : 3). + 42.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626629 ms (missed cycles : 3).[0m ×2 + 43.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 43.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725143 ms (missed cycles : 2). + 43.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725143 ms (missed cycles : 2).[0m ×2 + 44.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265013 ms (missed cycles : 3). + 44.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265013 ms (missed cycles : 3).[0m ×2 + 45.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734140 ms (missed cycles : 2). + 45.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734140 ms (missed cycles : 2).[0m ×2 + 46.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540503 ms (missed cycles : 4). + 46.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540503 ms (missed cycles : 4).[0m ×2 + 46.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 46.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891488 ms (missed cycles : 2). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891488 ms (missed cycles : 2).[0m ×2 + 47.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 48.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990934 ms (missed cycles : 3). + 48.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990934 ms (missed cycles : 3).[0m ×2 + 49.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285882 ms (missed cycles : 2). + 49.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285882 ms (missed cycles : 2).[0m ×2 + 49.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 50.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663852 ms (missed cycles : 3). + 50.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663852 ms (missed cycles : 3).[0m ×2 + 50.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 51.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510636 ms (missed cycles : 4). + 51.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510636 ms (missed cycles : 4).[0m ×2 + 52.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301096 ms (missed cycles : 3). + 52.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301096 ms (missed cycles : 3).[0m ×2 + 52.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.764ms + 53.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336078 ms (missed cycles : 3). + 53.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336078 ms (missed cycles : 3).[0m ×2 + 53.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 54.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956007 ms (missed cycles : 2). + 54.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956007 ms (missed cycles : 2).[0m ×2 + 54.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 55.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 55.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346071 ms (missed cycles : 3). + 55.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346071 ms (missed cycles : 3).[0m ×2 + 56.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632442 ms (missed cycles : 3). + 56.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632442 ms (missed cycles : 3).[0m ×2 + 57.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 57.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157125 ms (missed cycles : 3). + 57.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157125 ms (missed cycles : 3).[0m ×2 + 58.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 58.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374265 ms (missed cycles : 3). + 58.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374265 ms (missed cycles : 3).[0m ×2 + 59.10sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787148584.27161002 seconds ×3 + 59.20sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 10.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.20sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 11.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.782ms + 59.69sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787148584.86308932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447049 ms (missed cycles : 3). + 59.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447049 ms (missed cycles : 3).[0m ×2 + 60.08sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 60.52sWARNglobal_costmap.global_costmapSensor origin at (-0.77, -3.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 60.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585889 ms (missed cycles : 2). + 60.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585889 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 141 warnings · 266 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.61sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.61sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488495 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488495 ms (missed cycles : 2).[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900343 ms (missed cycles : 2). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900343 ms (missed cycles : 2).[0m ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778776 ms (missed cycles : 4). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778776 ms (missed cycles : 4).[0m ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818654 ms (missed cycles : 2). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818654 ms (missed cycles : 2).[0m ×2 + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865280 ms (missed cycles : 2). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865280 ms (missed cycles : 2).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160681 ms (missed cycles : 2). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160681 ms (missed cycles : 2).[0m ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105780 ms (missed cycles : 2). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105780 ms (missed cycles : 2).[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721966 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721966 ms (missed cycles : 2).[0m ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275939 ms (missed cycles : 3). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275939 ms (missed cycles : 3).[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451290 ms (missed cycles : 2). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451290 ms (missed cycles : 2).[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185641 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185641 ms (missed cycles : 2).[0m ×2 + 18.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021294 ms (missed cycles : 2). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021294 ms (missed cycles : 2).[0m ×2 + 19.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081201 ms (missed cycles : 2). + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081201 ms (missed cycles : 2).[0m ×2 + 20.31sINFOamclParticle filter update iteration stats: 1935 particles 723 points - 2.163ms + 20.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280846 ms (missed cycles : 2). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280846 ms (missed cycles : 2).[0m ×2 + 21.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747476 ms (missed cycles : 2). + 21.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747476 ms (missed cycles : 2).[0m ×2 + 22.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054639 ms (missed cycles : 2). + 22.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054639 ms (missed cycles : 2).[0m ×2 + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075641 ms (missed cycles : 2). + 23.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075641 ms (missed cycles : 2).[0m ×2 + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201819 ms (missed cycles : 2). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201819 ms (missed cycles : 2).[0m ×2 + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151267 ms (missed cycles : 2). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151267 ms (missed cycles : 2).[0m ×2 + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974589 ms (missed cycles : 3). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974589 ms (missed cycles : 3).[0m ×2 + 28.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319697 ms (missed cycles : 2). + 28.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319697 ms (missed cycles : 2).[0m ×2 + 29.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842281 ms (missed cycles : 3). + 29.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842281 ms (missed cycles : 3).[0m ×2 + 30.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370391 ms (missed cycles : 2). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370391 ms (missed cycles : 2).[0m ×2 + 31.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573552 ms (missed cycles : 2). + 31.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573552 ms (missed cycles : 2).[0m ×2 + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004439 ms (missed cycles : 2). + 32.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004439 ms (missed cycles : 2).[0m ×2 + 33.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436293 ms (missed cycles : 2). + 33.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436293 ms (missed cycles : 2).[0m ×2 + 34.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384762 ms (missed cycles : 3). + 34.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384762 ms (missed cycles : 3).[0m ×2 + 35.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005659 ms (missed cycles : 2). + 35.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005659 ms (missed cycles : 2).[0m ×2 + 36.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126788 ms (missed cycles : 3). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126788 ms (missed cycles : 3).[0m ×2 + 37.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730200 ms (missed cycles : 2). + 37.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730200 ms (missed cycles : 2).[0m ×2 + 38.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088805 ms (missed cycles : 2). + 38.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088805 ms (missed cycles : 2).[0m ×2 + 39.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587533 ms (missed cycles : 2). + 39.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587533 ms (missed cycles : 2).[0m ×2 + 40.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221528 ms (missed cycles : 3). + 40.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221528 ms (missed cycles : 3).[0m ×2 + 41.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594439 ms (missed cycles : 3). + 41.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594439 ms (missed cycles : 3).[0m ×2 + 43.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674386 ms (missed cycles : 2). + 43.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674386 ms (missed cycles : 2).[0m ×2 + 44.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340218 ms (missed cycles : 2). + 44.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340218 ms (missed cycles : 2).[0m ×2 + 45.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692582 ms (missed cycles : 2). + 45.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692582 ms (missed cycles : 2).[0m ×2 + 46.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645973 ms (missed cycles : 2). + 46.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645973 ms (missed cycles : 2).[0m ×2 + 47.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817073 ms (missed cycles : 3). + 47.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817073 ms (missed cycles : 3).[0m ×2 + 47.16sINFOjoint_trajectory_controllerGoal reached, success! + 47.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787148430.33628774 seconds ×3 + 47.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.41sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 1.972ms + 47.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787148430.91733766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855465 ms (missed cycles : 2). + 48.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855465 ms (missed cycles : 2).[0m ×2 + 48.73sINFOobjective_server_nodeFound path in 0 iterations (2.2011e-05 s). ×2 + 48.73sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816562 ms (missed cycles : 3). + 49.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816562 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.1s | 110 warnings · 154 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488996 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488996 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379849 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379849 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749891 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749891 ms (missed cycles : 2).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.47sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.51sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787148497.03891110 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716541 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716541 ms (missed cycles : 2).[0m ×2 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.10sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787148498.63226724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650345 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650345 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367663 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367663 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×4 + 6.23sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.23sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.23sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646753 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646753 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638371 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638371 ms (missed cycles : 3).[0m ×2 + 8.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.485ms + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631548 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631548 ms (missed cycles : 3).[0m ×2 + 8.64sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.741ms + 9.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.047ms + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115880 ms (missed cycles : 3). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115880 ms (missed cycles : 3).[0m ×2 + 9.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.780ms + 10.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.631ms + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895476 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895476 ms (missed cycles : 3).[0m ×2 + 10.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.105ms + 11.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.241ms + 11.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.821ms + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164506 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164506 ms (missed cycles : 2).[0m ×2 + 12.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.101ms + 12.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.122ms + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686511 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686511 ms (missed cycles : 2).[0m ×2 + 13.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.999ms + 13.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.427ms + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676823 ms (missed cycles : 3). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676823 ms (missed cycles : 3).[0m ×2 + 14.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.475ms + 14.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.819ms + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134613 ms (missed cycles : 2). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134613 ms (missed cycles : 2).[0m ×2 + 15.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.917ms + 15.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.246ms + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933434 ms (missed cycles : 2). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933434 ms (missed cycles : 2).[0m ×2 + 16.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.903ms + 16.65sINFOamclParticle filter update iteration stats: 4322 particles 723 points - 5.422ms + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045389 ms (missed cycles : 2). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045389 ms (missed cycles : 2).[0m ×2 + 17.15sINFOamclParticle filter update iteration stats: 2920 particles 723 points - 5.617ms + 17.65sINFOamclParticle filter update iteration stats: 2198 particles 723 points - 3.335ms + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523934 ms (missed cycles : 2). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523934 ms (missed cycles : 2).[0m ×2 + 18.15sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 2.205ms + 18.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 19.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488569 ms (missed cycles : 3). + 19.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 19.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488569 ms (missed cycles : 3).[0m ×2 + 19.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 20.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 20.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351929 ms (missed cycles : 3). + 20.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351929 ms (missed cycles : 3).[0m ×2 + 20.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 21.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340292 ms (missed cycles : 2). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340292 ms (missed cycles : 2).[0m ×2 + 21.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 22.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 22.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285705 ms (missed cycles : 2). + 22.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285705 ms (missed cycles : 2).[0m ×2 + 22.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 23.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618075 ms (missed cycles : 3). + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618075 ms (missed cycles : 3).[0m ×2 + 23.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 24.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 24.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 24.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981857 ms (missed cycles : 3). + 24.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981857 ms (missed cycles : 3).[0m ×2 + 25.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 25.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 25.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654159 ms (missed cycles : 3). + 25.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654159 ms (missed cycles : 3).[0m ×2 + 26.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 26.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 26.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262802 ms (missed cycles : 4). + 26.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262802 ms (missed cycles : 4).[0m ×2 + 27.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 27.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 27.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902105 ms (missed cycles : 3). + 27.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902105 ms (missed cycles : 3).[0m ×2 + 28.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 28.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997713 ms (missed cycles : 2). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997713 ms (missed cycles : 2).[0m ×2 + 29.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 29.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 29.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575498 ms (missed cycles : 3). + 29.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575498 ms (missed cycles : 3).[0m ×2 + 30.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 30.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 31.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926611 ms (missed cycles : 3). + 31.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926611 ms (missed cycles : 3).[0m ×2 + 31.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 31.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 32.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 32.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922927 ms (missed cycles : 3). + 32.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922927 ms (missed cycles : 3).[0m ×2 + 32.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 33.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689303 ms (missed cycles : 4). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689303 ms (missed cycles : 4).[0m ×2 + 33.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 34.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036740 ms (missed cycles : 3). + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036740 ms (missed cycles : 3).[0m ×2 + 34.64sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787148529.17240429 seconds ×3 + 34.74sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 34.74sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 34.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.202ms + 35.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977061 ms (missed cycles : 3). + 35.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977061 ms (missed cycles : 3).[0m ×2 + 35.22sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787148529.75147462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.62sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 36.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931120 ms (missed cycles : 3). + 36.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931120 ms (missed cycles : 3).[0m ×2 + 37.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220411 ms (missed cycles : 2). + 37.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220411 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 14.7s | 62 warnings · 187 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303618 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303618 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488708 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488708 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472134 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472134 ms (missed cycles : 3).[0m ×2 + 2.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474491 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474491 ms (missed cycles : 4).[0m ×2 + 3.71sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.71sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.72sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787148734.34888601 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-1.21, 6.12) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-2.11, 6.14) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.463ms + 3.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.055ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855233 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855233 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787148734.93967009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.87sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.87sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718924 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718924 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911014 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911014 ms (missed cycles : 2).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855946 ms (missed cycles : 4). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855946 ms (missed cycles : 4).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981837 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981837 ms (missed cycles : 2).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722224 ms (missed cycles : 2). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722224 ms (missed cycles : 2).[0m ×2 + 10.56sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). ×2 + 10.59sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.62sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 10.65sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.69sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 10.76sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.80sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 10.86sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.90sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380928 ms (missed cycles : 3). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380928 ms (missed cycles : 3).[0m ×2 + 11.09sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 11.14sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 11.42sINFOobjective_server_nodeFound path in 51 iterations (0.0435788 s). ×2 + 11.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_____X] ×2 + 11.69sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401001 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401001 ms (missed cycles : 3).[0m ×2 + 12.13sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.40sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.57sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373257 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373257 ms (missed cycles : 2).[0m ×2 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694240 ms (missed cycles : 2). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694240 ms (missed cycles : 2).[0m ×2 + 14.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.384ms + 14.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.530ms + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046108 ms (missed cycles : 2). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046108 ms (missed cycles : 2).[0m ×2 + 15.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.502ms + 16.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.591ms + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698138 ms (missed cycles : 2). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698138 ms (missed cycles : 2).[0m ×2 + 16.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.656ms + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831315 ms (missed cycles : 2). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831315 ms (missed cycles : 2).[0m ×2 + 18.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.832ms + 18.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265240 ms (missed cycles : 2). + 18.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265240 ms (missed cycles : 2).[0m ×2 + 18.40sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787148749.02550197 seconds ×3 + 18.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.988ms + 18.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.796ms + 19.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787148749.64366531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.02sINFOmove_groupClearing octomap...[0m ×2 + 19.02sINFOmove_groupOctomap cleared.[0m ×2 + 19.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787148750.18378687 seconds ×3 + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930219 ms (missed cycles : 2). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930219 ms (missed cycles : 2).[0m ×2 + 20.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787148750.76042032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787148751.28054309 seconds ×3 + 20.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205155 ms (missed cycles : 2). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205155 ms (missed cycles : 2).[0m ×2 + 20.89sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 90 errors · 33 warnings · 432 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.502ms + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.591ms + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698138 ms (missed cycles : 2). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698138 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.656ms + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831315 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831315 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.832ms + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265240 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265240 ms (missed cycles : 2).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787148749.02550197 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.988ms + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.796ms + 3.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787148749.64366531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787148750.18378687 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930219 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930219 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787148750.76042032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787148751.28054309 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205155 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205155 ms (missed cycles : 2).[0m ×2 + 5.34sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633462 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633462 ms (missed cycles : 2).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320180 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320180 ms (missed cycles : 2).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327819 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327819 ms (missed cycles : 2).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043370 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043370 ms (missed cycles : 2).[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585143 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585143 ms (missed cycles : 3).[0m ×2 + 11.02sERRORweb_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 + 11.03sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.06sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORweb_video_auth_proxy-35process has died [pid 9597, 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 + 11.06sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.09sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORweb_bridge_auth_proxy-34process has died [pid 9594, 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 + 11.09sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.18sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.21sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.22sINFOvideo_server-33process has finished cleanly [pid 9591] ×2 + 11.23sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.25sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.28sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.30sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.30sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.33sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.36sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.39sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.41sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.44sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.46sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9590] ×2 + 11.47sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864930 ms (missed cycles : 2). + 11.52sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.52sINFOcontroller_managerShutdown request received.... + 11.52sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.52sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.52sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.52sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.52sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.52sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.52sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.52sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.52sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.52sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.52sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.52sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.52sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.52sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.52sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.52sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.52sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.52sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.52sINFOcontroller_managerShutting down the controller manager. + 11.54sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.54sERRORmove_group-21process has died [pid 9557, 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_jhgtf9v1 --params-file /tmp/launch_params_9mufo1h4 --params-file /tmp/launch_params_8ixy3ir7 --params-file /tmp/launch_params_2mu_nadg --params-file /tmp/launch_params_jg1tn5zj --params-file /tmp/launch_params_jlae4a4j']. ×2 + 11.54sINFOui_teleop_bridge-30process has finished cleanly [pid 9588] ×2 + 11.56sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.56sINFOcomponent_container_mt-28process has finished cleanly [pid 9586] ×2 + 11.57sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1787148757.451 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.58sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.60sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.61sINFOexecute_objective_bridge-29process has finished cleanly [pid 9587] ×2 + 11.62sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.64sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.67sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.67sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.67sINFOmap_serverDeactivating + 11.67sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.68sINFOmap_serverCleaning up + 11.68sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.68sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.69sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.69sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.69sINFOcontroller_serverDeactivating + 11.69sINFOlocal_costmap.local_costmapDeactivating + 11.69sINFOvideo_server2026/08/19 14:12:37 INF shutting down gracefully ×2 + 11.69sINFOvideo_server2026/08/19 14:12:37 INF [WebRTC] closing ×2 + 11.69sINFOvideo_server2026/08/19 14:12:37 INF [RTSP] closing ×2 + 11.69sINFOvideo_server2026/08/19 14:12:37 INF waiting for running hooks ×2 + 11.69sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.69sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.69sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.69sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.69sERRORamclThe bond connection to the lifecycle manager has been broken + 11.70sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.70sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.70sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.70sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.70sERRORmove_groupStack trace (most recent call last) in thread 10096: ×2 + 11.70sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.70sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f88423a2b63, in __clone ×2 + 11.70sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8842315b83, in ×2 + 11.70sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f88425a7db3, in ×2 + 11.70sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f8842d18637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.70sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8842939620, in rclcpp::Rate::sleep() ×2 + 11.70sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f884287bd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.70sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f884283d087, in ×2 + 11.70sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8842576390, in __cxa_throw ×2 + 11.70sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8842560a54, in std::terminate() ×2 + 11.70sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f88425760d9, in ×2 + 11.70sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8842560ff4, in ×2 + 11.70sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f88422a18fe, in abort ×2 + 11.70sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f88422be27d, in raise ×2 + 11.70sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8842317c0c, in pthread_kill ×2 + 11.70sERRORmove_groupAborted (Signal sent by tkill() 9557 0) ×2 + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864930 ms (missed cycles : 2).[0m ×2 + 11.70sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.70sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.70sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.70sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.70sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.70sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.70sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.70sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.70sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.70sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.70sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.70sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.70sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.70sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.71sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.71sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.71sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.71sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.71sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.71sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.71sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.71sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.71sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.71sINFOodom_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 + 11.71sINFOodom_qos_relay.pymain() ×2 + 11.71sINFOodom_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 + 11.71sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.71sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.71sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.71sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.71sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.71sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.71sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.71sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.71sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.71sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.71sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.73sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.73sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.73sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.79sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.80sINFOcontroller_serverCleaning up + 11.80sINFOlocal_costmap.local_costmapCleaning up + 11.84sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.84sINFOsmoother_serverDeactivating + 11.84sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.85sINFOsmoother_serverCleaning up + 11.87sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.87sINFOplanner_serverDeactivating + 11.87sINFOglobal_costmap.global_costmapDeactivating + 11.94sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.94sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.94sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.94sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.94sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.94sINFOvelocity_smootherDeactivating + 11.94sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.97sERRORcomponent_container_isolated-2process has died [pid 9461, 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__6kp94j6 --params-file /tmp/launch_params_qpwiqceg -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.06sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.06sINFOwaypoint_followerDeactivating + 12.06sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.17sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.17sINFObt_navigatorDeactivating + 12.17sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.28sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.28sINFObehavior_serverDeactivating + 12.28sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.39sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.39sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.39sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.39sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.39sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.39sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.39sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.40sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.40sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.40sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.40sINFOvelocity_smootherCleaning up + 12.40sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.40sINFOwaypoint_followerCleaning up + 12.41sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9583] ×2 + 12.43sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.43sINFObt_navigatorCleaning up + 12.44sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9581] ×2 + 12.49sINFOobjective_server_node[2026-08-19 14:12:38.671] [moveit_pro_license] [critical] ×2 + 12.49sINFOobjective_server_node************************************************* ×4 + 12.49sINFOobjective_server_node* MoveIt Pro License ×2 + 12.49sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.51sINFOwaypoint_manager_node-23process has finished cleanly [pid 9559] ×2 + 12.51sINFOparameter_manager_node-22process has finished cleanly [pid 9558] ×2 + 12.51sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.51sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.52sINFOplanner_serverCleaning up + 12.53sINFOcomponent_container_mt-27process has finished cleanly [pid 9585] ×2 + 12.54sINFOglobal_costmap.global_costmapCleaning up + 12.55sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.55sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.56sINFOobjective_server_node_main-26process has finished cleanly [pid 9584] ×2 + 12.56sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.58sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.58sINFObehavior_serverCleaning up + 12.58sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.58sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.58sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.58sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.59sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9467] ×2 + 12.60sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9466] ×2 + 12.60sINFObt_navigatorCompleted Cleaning up + 12.60sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.66sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.66sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.66sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.66sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.66sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.66sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.66sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.66sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.67sINFOstatic_transform_publisher-4process has finished cleanly [pid 9463] ×2 + 12.68sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9465] ×2 + 12.71sERRORodom_qos_relay.py-5process has died [pid 9464, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.73sINFOstatic_transform_publisher-3process has finished cleanly [pid 9462] ×2 + 12.95sERRORcomponent_container_isolated-1process has died [pid 9460, 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__6kp94j6 --params-file /tmp/launch_params_6r8k9bz0 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.25sINFOros2_control_node-9process has finished cleanly [pid 9468] ×2 + 14.32sINFOweb_bridge-31process has finished cleanly [pid 9589] ×2 + 14.32sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 3 errors · 59 warnings · 122 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346071 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346071 ms (missed cycles : 3).[0m ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632442 ms (missed cycles : 3). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632442 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157125 ms (missed cycles : 3). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157125 ms (missed cycles : 3).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374265 ms (missed cycles : 3). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374265 ms (missed cycles : 3).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.19sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787148584.27161002 seconds ×3 + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.21sINFOros2_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 + 4.29sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 10.82) 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 (-2.59, 11.36) 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 - 3.782ms + 4.79sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787148584.86308932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447049 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447049 ms (missed cycles : 3).[0m ×2 + 5.18sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 5.62sWARNglobal_costmap.global_costmapSensor origin at (-0.77, -3.37) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585889 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585889 ms (missed cycles : 2).[0m ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×4 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443936 ms (missed cycles : 3). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443936 ms (missed cycles : 3).[0m ×2 + 7.05sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.05sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.05sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.05sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.62sWARNglobal_costmap.global_costmapSensor origin at (-0.77, -3.35) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842630 ms (missed cycles : 2). + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842630 ms (missed cycles : 2).[0m ×2 + 8.62sWARNglobal_costmap.global_costmapSensor origin at (-0.71, -3.17) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.030ms + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079909 ms (missed cycles : 2). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079909 ms (missed cycles : 2).[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.090ms + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.727ms + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494525 ms (missed cycles : 3). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494525 ms (missed cycles : 3).[0m ×2 + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.956ms + 11.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.592ms + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398733 ms (missed cycles : 2). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398733 ms (missed cycles : 2).[0m ×2 + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.460ms + 12.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.807ms + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880300 ms (missed cycles : 3). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880300 ms (missed cycles : 3).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.691ms + 13.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.199ms + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578619 ms (missed cycles : 2). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578619 ms (missed cycles : 2).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 4714 particles 723 points - 5.933ms + 14.00sINFOamclParticle filter update iteration stats: 3648 particles 723 points - 4.875ms + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394348 ms (missed cycles : 3). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394348 ms (missed cycles : 3).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 2575 particles 723 points - 4.763ms + 14.87sINFOobjective_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 + 14.88sINFOjoint_trajectory_controllerGot request to cancel goal + 14.88sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.88sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.88sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.90sERRORobjective_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: 1787148594.97499871 seconds ×3 + 14.99sWARNlocal_costmap.local_costmapSensor origin at (-0.65, 3.24) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 14.99sWARNlocal_costmap.local_costmapSensor origin at (-1.55, 3.22) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 15.00sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 2.564ms + 15.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.606ms + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280577 ms (missed cycles : 2). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280577 ms (missed cycles : 2).[0m ×2 + 15.50sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787148595.57335496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.87sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150467 ms (missed cycles : 2). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150467 ms (missed cycles : 2).[0m ×2 + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897300 ms (missed cycles : 2). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897300 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.3s | 41 warnings · 102 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389466 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389466 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638860 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638860 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818823 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818823 ms (missed cycles : 3).[0m ×2 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261966 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261966 ms (missed cycles : 4).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.55sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787148490.78222609 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.968ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115521 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115521 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787148491.36877584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.80sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.80sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.80sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.81sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063453 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063453 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552523 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552523 ms (missed cycles : 3).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488996 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488996 ms (missed cycles : 3).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379849 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379849 ms (missed cycles : 3).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749891 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749891 ms (missed cycles : 2).[0m ×2 + 9.86sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787148497.03891110 seconds ×3 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716541 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716541 ms (missed cycles : 2).[0m ×2 + 11.45sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787148498.63226724 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 3.650345 ms (missed cycles : 3). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650345 ms (missed cycles : 3).[0m ×2 + 11.87sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367663 ms (missed cycles : 2). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367663 ms (missed cycles : 2).[0m ×2 + 13.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 38 warnings · 93 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969125 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969125 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427514 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427514 ms (missed cycles : 4).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.208ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588784 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588784 ms (missed cycles : 4).[0m ×2 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306823 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306823 ms (missed cycles : 2).[0m ×2 + 3.64sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.64sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.65sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787148670.92363620 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.80sWARNlocal_costmap.local_costmapSensor origin at (-2.10, 13.18) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.80sWARNlocal_costmap.local_costmapSensor origin at (-2.90, 12.76) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.316ms + 4.25sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787148671.52432609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933125 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933125 ms (missed cycles : 3).[0m ×2 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253319 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253319 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172159 ms (missed cycles : 4). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172159 ms (missed cycles : 4).[0m ×2 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772936 ms (missed cycles : 4). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772936 ms (missed cycles : 4).[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692238 ms (missed cycles : 3). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692238 ms (missed cycles : 3).[0m ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206481 ms (missed cycles : 2). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206481 ms (missed cycles : 2).[0m ×2 + 10.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787148677.44445777 seconds ×3 + 10.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787148678.03875661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.21sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770405 ms (missed cycles : 3). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770405 ms (missed cycles : 3).[0m ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999030 ms (missed cycles : 2). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999030 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.3s | 30 warnings · 93 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674386 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674386 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340218 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340218 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692582 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692582 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645973 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645973 ms (missed cycles : 2).[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817073 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817073 ms (missed cycles : 3).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.16sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787148430.33628774 seconds ×3 + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.41sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 1.972ms + 4.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787148430.91733766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855465 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855465 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_server_nodeFound path in 0 iterations (2.2011e-05 s). ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.76sINFOjoint_trajectory_controllerReceived new action goal + 5.76sINFOjoint_trajectory_controllerAccepted new action goal + 5.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816562 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816562 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629400 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629400 ms (missed cycles : 2).[0m ×2 + 7.46sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787148433.62747145 seconds ×3 + 8.05sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787148434.21209407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.41sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719308 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719308 ms (missed cycles : 3).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018102 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018102 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 21 warnings · 82 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.384ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.530ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046108 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046108 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.502ms + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.591ms + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698138 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698138 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.656ms + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831315 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831315 ms (missed cycles : 2).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.832ms + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265240 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265240 ms (missed cycles : 2).[0m ×2 + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.14sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787148749.02550197 seconds ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.988ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.796ms + 4.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787148749.64366531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.76sINFOmove_groupClearing octomap...[0m ×2 + 4.76sINFOmove_groupOctomap cleared.[0m ×2 + 5.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787148750.18378687 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930219 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930219 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787148750.76042032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787148751.28054309 seconds ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205155 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205155 ms (missed cycles : 2).[0m ×2 + 6.64sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633462 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633462 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 18 warnings · 214 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.61sINFOjoint_trajectory_controllerReceived new action goal + 5.61sINFOjoint_trajectory_controllerAccepted new action goal + 5.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 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 2.405682 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405682 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 1.64sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 2.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.29sINFOmove_groupOctomap cleared.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_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 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 93 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817073 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817073 ms (missed cycles : 3).[0m ×2 + 0.04sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.04sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787148430.33628774 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.29sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 1.972ms + 0.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787148430.91733766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855465 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855465 ms (missed cycles : 2).[0m ×2 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (2.2011e-05 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.64sINFOjoint_trajectory_controllerReceived new action goal + 1.64sINFOjoint_trajectory_controllerAccepted new action goal + 1.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816562 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816562 ms (missed cycles : 3).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629400 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629400 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787148433.62747145 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787148434.21209407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719308 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719308 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018102 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018102 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 23 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389466 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389466 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638860 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638860 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818823 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818823 ms (missed cycles : 3).[0m ×2 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261966 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261966 ms (missed cycles : 4).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787148490.78222609 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.968ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115521 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115521 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787148491.36877584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063453 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063453 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552523 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552523 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 23 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389466 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389466 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638860 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638860 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818823 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818823 ms (missed cycles : 3).[0m ×2 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261966 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261966 ms (missed cycles : 4).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787148490.78222609 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.968ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115521 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115521 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787148491.36877584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063453 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063453 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552523 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552523 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 23 warnings · 57 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926611 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926611 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922927 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922927 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689303 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689303 ms (missed cycles : 4).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036740 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036740 ms (missed cycles : 3).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787148529.17240429 seconds ×3 + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.202ms + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977061 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977061 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787148529.75147462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931120 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931120 ms (missed cycles : 3).[0m ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220411 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220411 ms (missed cycles : 2).[0m ×2 + 6.64sINFOjoint_trajectory_controllerReceived new action goal + 6.64sINFOjoint_trajectory_controllerAccepted new action goal + 6.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.64sINFOros2_control_nodeAccepted new action goal[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 2.405682 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405682 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 1.64sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 2.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.29sINFOmove_groupOctomap cleared.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_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 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405682 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405682 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 1.64sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 2.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.29sINFOmove_groupOctomap cleared.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_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 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 18 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172159 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172159 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772936 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772936 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692238 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692238 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206481 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206481 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787148677.44445777 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787148678.03875661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770405 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770405 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999030 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999030 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 51 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674386 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674386 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340218 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340218 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692582 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692582 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645973 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645973 ms (missed cycles : 2).[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817073 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817073 ms (missed cycles : 3).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787148430.33628774 seconds ×3 + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 1.972ms + 4.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787148430.91733766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855465 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855465 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_server_nodeFound path in 0 iterations (2.2011e-05 s). ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.76sINFOjoint_trajectory_controllerReceived new action goal + 5.76sINFOjoint_trajectory_controllerAccepted new action goal + 5.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816562 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816562 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 51 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674386 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674386 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340218 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340218 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692582 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692582 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645973 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645973 ms (missed cycles : 2).[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817073 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817073 ms (missed cycles : 3).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787148430.33628774 seconds ×3 + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 1.972ms + 4.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787148430.91733766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855465 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855465 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_server_nodeFound path in 0 iterations (2.2011e-05 s). ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.76sINFOjoint_trajectory_controllerReceived new action goal + 5.76sINFOjoint_trajectory_controllerAccepted new action goal + 5.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816562 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816562 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 23 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389466 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389466 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638860 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638860 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818823 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818823 ms (missed cycles : 3).[0m ×2 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261966 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261966 ms (missed cycles : 4).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787148490.78222609 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.968ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115521 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115521 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787148491.36877584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063453 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063453 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552523 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552523 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 23 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389466 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389466 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638860 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638860 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818823 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818823 ms (missed cycles : 3).[0m ×2 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261966 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261966 ms (missed cycles : 4).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787148490.78222609 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.968ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115521 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115521 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787148491.36877584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063453 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063453 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552523 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552523 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 23 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389466 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389466 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638860 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638860 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818823 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818823 ms (missed cycles : 3).[0m ×2 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261966 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261966 ms (missed cycles : 4).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787148490.78222609 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.968ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115521 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115521 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787148491.36877584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063453 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063453 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552523 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552523 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 23 warnings · 57 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926611 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926611 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922927 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922927 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689303 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689303 ms (missed cycles : 4).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036740 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036740 ms (missed cycles : 3).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787148529.17240429 seconds ×3 + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.202ms + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977061 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977061 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787148529.75147462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931120 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931120 ms (missed cycles : 3).[0m ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220411 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220411 ms (missed cycles : 2).[0m ×2 + 6.64sINFOjoint_trajectory_controllerReceived new action goal + 6.64sINFOjoint_trajectory_controllerAccepted new action goal + 6.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.64sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 23 warnings · 57 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926611 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926611 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922927 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922927 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689303 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689303 ms (missed cycles : 4).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036740 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036740 ms (missed cycles : 3).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787148529.17240429 seconds ×3 + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.202ms + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977061 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977061 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787148529.75147462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931120 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931120 ms (missed cycles : 3).[0m ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220411 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220411 ms (missed cycles : 2).[0m ×2 + 6.64sINFOjoint_trajectory_controllerReceived new action goal + 6.64sINFOjoint_trajectory_controllerAccepted new action goal + 6.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.64sINFOros2_control_nodeAccepted new action goal[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 5.172159 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172159 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772936 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772936 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692238 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692238 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206481 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206481 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787148677.44445777 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787148678.03875661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770405 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770405 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999030 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999030 ms (missed cycles : 2).[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 5.172159 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172159 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772936 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772936 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692238 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692238 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206481 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206481 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787148677.44445777 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787148678.03875661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770405 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770405 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999030 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999030 ms (missed cycles : 2).[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 5.172159 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172159 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772936 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772936 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692238 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692238 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206481 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206481 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787148677.44445777 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787148678.03875661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770405 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770405 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999030 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999030 ms (missed cycles : 2).[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 5.172159 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172159 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772936 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772936 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692238 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692238 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206481 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206481 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787148677.44445777 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787148678.03875661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770405 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770405 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999030 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999030 ms (missed cycles : 2).[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 5.172159 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172159 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772936 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772936 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692238 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692238 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206481 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206481 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787148677.44445777 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787148678.03875661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770405 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770405 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999030 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999030 ms (missed cycles : 2).[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 5.172159 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172159 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772936 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772936 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692238 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692238 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206481 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206481 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787148677.44445777 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787148678.03875661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770405 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770405 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999030 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999030 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 82 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.384ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.530ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046108 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046108 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.502ms + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.591ms + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698138 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698138 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.656ms + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831315 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831315 ms (missed cycles : 2).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.832ms + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265240 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265240 ms (missed cycles : 2).[0m ×2 + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.14sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787148749.02550197 seconds ×3 + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.988ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.796ms + 4.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787148749.64366531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.76sINFOmove_groupClearing octomap...[0m ×2 + 4.76sINFOmove_groupOctomap cleared.[0m ×2 + 5.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787148750.18378687 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930219 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930219 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787148750.76042032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787148751.28054309 seconds ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205155 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205155 ms (missed cycles : 2).[0m ×2 + 6.64sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 24 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405682 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405682 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 1.64sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 2.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.29sINFOmove_groupOctomap cleared.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_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 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 6.95sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.25sINFOjoint_trajectory_controllerReceived new action goal + 7.25sINFOjoint_trajectory_controllerAccepted new action goal + 7.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196860 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196860 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405682 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405682 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 3.78sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.78sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.36sINFOmove_groupClearing octomap...[0m ×2 + 4.36sINFOmove_groupOctomap cleared.[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_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 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 6.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.98sINFOros2_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 2.405682 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405682 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 1.64sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 2.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.29sINFOmove_groupOctomap cleared.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_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 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 187 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196860 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196860 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405682 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405682 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 2.71sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 3.78sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.78sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.36sINFOmove_groupClearing octomap...[0m ×2 + 4.36sINFOmove_groupOctomap cleared.[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_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 + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405682 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405682 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 1.64sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 2.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.29sINFOmove_groupOctomap cleared.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_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 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.91sINFOros2_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 2.405682 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405682 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 1.64sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 2.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.29sINFOmove_groupOctomap cleared.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_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 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.91sINFOros2_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 2.405682 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405682 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 1.64sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 2.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.29sINFOmove_groupOctomap cleared.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_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 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.91sINFOros2_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 2.405682 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405682 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 1.64sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 2.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.29sINFOmove_groupOctomap cleared.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_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 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[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 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[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 | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789738 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo sim: 0.56% 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 2.177627 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177627 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727310 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148384.81284022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148384.82302594 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148385.41741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148385.42752934 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292275 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148386.00832820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148386.15887380 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427932 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148386.76584458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_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 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148386.83614731 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787148387.41740894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921555 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365788 ms (missed cycles : 3).[0m ×2 | ||||