67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
26.8s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 74.3s | 3 errors · 233 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897960 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897960 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192477 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192477 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506473 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506473 ms (missed cycles : 3).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693529 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693529 ms (missed cycles : 2).[0m ×2 + 3.42sINFOjoint_trajectory_controllerGot request to cancel goal + 3.42sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.42sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.42sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1787170791.95361423 seconds ×3 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.04sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787170792.52010441 seconds. ×3 + 4.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.199983 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.199983 ms (missed cycles : 6).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (7.76e-07 s). ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786837 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786837 ms (missed cycles : 5).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal ×4 + 6.30sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 6.30sINFOros2_control_nodeReceived new action goal[0m ×8 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×8 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.910140 ms (missed cycles : 7). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.910140 ms (missed cycles : 7).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673956 ms (missed cycles : 4). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673956 ms (missed cycles : 4).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332434 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332434 ms (missed cycles : 2).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.300743 ms (missed cycles : 6). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.300743 ms (missed cycles : 6).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353950 ms (missed cycles : 4). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353950 ms (missed cycles : 4).[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985652 ms (missed cycles : 3). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985652 ms (missed cycles : 3).[0m ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959945 ms (missed cycles : 3). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959945 ms (missed cycles : 3).[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862471 ms (missed cycles : 2). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862471 ms (missed cycles : 2).[0m ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714688 ms (missed cycles : 3). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714688 ms (missed cycles : 3).[0m ×2 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720889 ms (missed cycles : 2). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720889 ms (missed cycles : 2).[0m ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.109274 ms (missed cycles : 4). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.109274 ms (missed cycles : 4).[0m ×2 + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762863 ms (missed cycles : 2). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762863 ms (missed cycles : 2).[0m ×2 + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106408 ms (missed cycles : 2). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106408 ms (missed cycles : 2).[0m ×2 + 19.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836900 ms (missed cycles : 3). + 19.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836900 ms (missed cycles : 3).[0m ×2 + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810430 ms (missed cycles : 2). + 21.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810430 ms (missed cycles : 2).[0m ×2 + 22.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140649 ms (missed cycles : 2). + 22.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140649 ms (missed cycles : 2).[0m ×2 + 23.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243776 ms (missed cycles : 5). + 23.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243776 ms (missed cycles : 5).[0m ×2 + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121393 ms (missed cycles : 3). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121393 ms (missed cycles : 3).[0m ×2 + 25.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225365 ms (missed cycles : 2). + 25.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225365 ms (missed cycles : 2).[0m ×2 + 26.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458276 ms (missed cycles : 3). + 26.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458276 ms (missed cycles : 3).[0m ×2 + 27.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400952 ms (missed cycles : 3). + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400952 ms (missed cycles : 3).[0m ×2 + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535637 ms (missed cycles : 3). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535637 ms (missed cycles : 3).[0m ×2 + 29.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099987 ms (missed cycles : 3). + 29.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099987 ms (missed cycles : 3).[0m ×2 + 30.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152501 ms (missed cycles : 3). + 30.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152501 ms (missed cycles : 3).[0m ×2 + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623346 ms (missed cycles : 2). + 31.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623346 ms (missed cycles : 2).[0m ×2 + 32.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939831 ms (missed cycles : 2). + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939831 ms (missed cycles : 2).[0m ×2 + 33.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245449 ms (missed cycles : 2). + 33.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245449 ms (missed cycles : 2).[0m ×2 + 33.55sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.55sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.97sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178071 ms (missed cycles : 4). + 34.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178071 ms (missed cycles : 4).[0m ×2 + 34.83sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 35.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726450 ms (missed cycles : 2). + 35.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726450 ms (missed cycles : 2).[0m ×2 + 36.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.653365 ms (missed cycles : 8). + 36.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.653365 ms (missed cycles : 8).[0m ×2 + 37.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.279051 ms (missed cycles : 6). + 37.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.279051 ms (missed cycles : 6).[0m ×2 + 38.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545262 ms (missed cycles : 4). + 38.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545262 ms (missed cycles : 4).[0m ×2 + 39.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929501 ms (missed cycles : 2). + 39.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929501 ms (missed cycles : 2).[0m ×2 + 40.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308091 ms (missed cycles : 2). + 40.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308091 ms (missed cycles : 2).[0m ×2 + 41.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056301 ms (missed cycles : 3). + 41.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056301 ms (missed cycles : 3).[0m ×2 + 42.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720622 ms (missed cycles : 2). + 42.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720622 ms (missed cycles : 2).[0m ×2 + 43.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031492 ms (missed cycles : 2). + 43.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031492 ms (missed cycles : 2).[0m ×2 + 44.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819368 ms (missed cycles : 3). + 44.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819368 ms (missed cycles : 3).[0m ×2 + 46.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.233404 ms (missed cycles : 6). + 46.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.233404 ms (missed cycles : 6).[0m ×2 + 47.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465556 ms (missed cycles : 2). + 47.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465556 ms (missed cycles : 2).[0m ×2 + 48.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890275 ms (missed cycles : 3). + 48.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890275 ms (missed cycles : 3).[0m ×2 + 49.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.673350 ms (missed cycles : 8). + 49.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.673350 ms (missed cycles : 8).[0m ×2 + 50.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.941664 ms (missed cycles : 7). + 50.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.941664 ms (missed cycles : 7).[0m ×2 + 51.43sINFOobjective_server_nodePlanning for 38 path waypoints. ×3 + 51.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764601 ms (missed cycles : 3). + 51.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764601 ms (missed cycles : 3).[0m ×2 + 52.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208779 ms (missed cycles : 2). + 52.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208779 ms (missed cycles : 2).[0m ×2 + 53.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.488202 ms (missed cycles : 7). + 53.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.488202 ms (missed cycles : 7).[0m ×2 + 54.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417438 ms (missed cycles : 3). + 54.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417438 ms (missed cycles : 3).[0m ×2 + 55.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080568 ms (missed cycles : 2). + 55.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080568 ms (missed cycles : 2).[0m ×2 + 56.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403497 ms (missed cycles : 3). + 56.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403497 ms (missed cycles : 3).[0m ×2 + 57.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193736 ms (missed cycles : 2). + 57.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193736 ms (missed cycles : 2).[0m ×2 + 58.45sINFOros2_control_nodeMuJoCo sim: 4.68% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 58.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079236 ms (missed cycles : 2). + 58.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079236 ms (missed cycles : 2).[0m ×2 + 59.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243404 ms (missed cycles : 2). + 59.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243404 ms (missed cycles : 2).[0m ×2 + 60.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492454 ms (missed cycles : 3). + 60.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492454 ms (missed cycles : 3).[0m ×2 + 61.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024051 ms (missed cycles : 2). + 61.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024051 ms (missed cycles : 2).[0m ×2 + 62.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647582 ms (missed cycles : 4). + 62.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647582 ms (missed cycles : 4).[0m ×2 + 63.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940606 ms (missed cycles : 3). + 63.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940606 ms (missed cycles : 3).[0m ×2 + 64.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251383 ms (missed cycles : 3). + 64.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251383 ms (missed cycles : 3).[0m ×2 + 65.40sINFOobjective_server_nodePlanning for 28 path waypoints. ×3 + 66.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.792813 ms (missed cycles : 7). + 66.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.792813 ms (missed cycles : 7).[0m ×2 + 67.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605379 ms (missed cycles : 2). + 67.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605379 ms (missed cycles : 2).[0m ×2 + 68.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107785 ms (missed cycles : 2). + 68.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107785 ms (missed cycles : 2).[0m ×2 + 69.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765260 ms (missed cycles : 2). + 69.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765260 ms (missed cycles : 2).[0m ×2 + 70.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.577191 ms (missed cycles : 5). + 70.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.577191 ms (missed cycles : 5).[0m ×2 + 71.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425838 ms (missed cycles : 3). + 71.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425838 ms (missed cycles : 3).[0m ×2 + 72.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848488 ms (missed cycles : 2). + 72.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848488 ms (missed cycles : 2).[0m ×2 + 73.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118392 ms (missed cycles : 3). + 73.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118392 ms (missed cycles : 3).[0m ×2 + 74.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2). + 74.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2).[0m ×2 + 75.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3). + 75.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3).[0m ×2 + 76.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3). + 76.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3).[0m ×2 + 77.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2). + 77.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2).[0m ×2 + 77.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787170866.24036241 seconds ×3 + 77.80sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 77.80sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.53) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.34sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787170866.81380177 seconds. ×3 + 78.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6). + 78.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6).[0m ×2 + 78.80sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 79.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6). + 79.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.6s | 185 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177418 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177418 ms (missed cycles : 3).[0m ×2 + 0.06sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.06sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787170626.04461932 seconds ×3 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.64sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787170626.60786366 seconds. ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816594 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816594 ms (missed cycles : 4).[0m ×2 + 1.84sINFOobjective_server_nodeFound path in 0 iterations (2.9955e-05 s). ×2 + 1.84sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.86sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.86sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.86sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.87sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502682 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502682 ms (missed cycles : 5).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795535 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795535 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787170629.93799257 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863322 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863322 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787170630.50498962 seconds. ×3 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845491 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845491 ms (missed cycles : 4).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728206 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728206 ms (missed cycles : 4).[0m ×2 + 7.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049611 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049611 ms (missed cycles : 2).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822059 ms (missed cycles : 4). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822059 ms (missed cycles : 4).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996526 ms (missed cycles : 5). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996526 ms (missed cycles : 5).[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315254 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315254 ms (missed cycles : 2).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584924 ms (missed cycles : 3). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584924 ms (missed cycles : 3).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757871 ms (missed cycles : 3). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757871 ms (missed cycles : 3).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913159 ms (missed cycles : 4). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913159 ms (missed cycles : 4).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754708 ms (missed cycles : 2). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754708 ms (missed cycles : 2).[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004948 ms (missed cycles : 5). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004948 ms (missed cycles : 5).[0m ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.261883 ms (missed cycles : 6). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.261883 ms (missed cycles : 6).[0m ×2 + 18.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627278 ms (missed cycles : 4). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627278 ms (missed cycles : 4).[0m ×2 + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684894 ms (missed cycles : 3). + 19.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684894 ms (missed cycles : 3).[0m ×2 + 20.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.537846 ms (missed cycles : 8). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.537846 ms (missed cycles : 8).[0m ×2 + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199693 ms (missed cycles : 4). + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199693 ms (missed cycles : 4).[0m ×2 + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500301 ms (missed cycles : 3). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500301 ms (missed cycles : 3).[0m ×2 + 23.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614235 ms (missed cycles : 3). + 23.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614235 ms (missed cycles : 3).[0m ×2 + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187237 ms (missed cycles : 2). + 24.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187237 ms (missed cycles : 2).[0m ×2 + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970895 ms (missed cycles : 3). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970895 ms (missed cycles : 3).[0m ×2 + 26.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581371 ms (missed cycles : 3). + 26.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581371 ms (missed cycles : 3).[0m ×2 + 27.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974076 ms (missed cycles : 3). + 27.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974076 ms (missed cycles : 3).[0m ×2 + 28.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028996 ms (missed cycles : 3). + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028996 ms (missed cycles : 3).[0m ×2 + 29.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006626 ms (missed cycles : 2). + 29.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006626 ms (missed cycles : 2).[0m ×2 + 30.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181854 ms (missed cycles : 3). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181854 ms (missed cycles : 3).[0m ×2 + 31.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905801 ms (missed cycles : 2). + 31.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905801 ms (missed cycles : 2).[0m ×2 + 33.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238689 ms (missed cycles : 2). + 33.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238689 ms (missed cycles : 2).[0m ×2 + 34.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863628 ms (missed cycles : 3). + 34.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863628 ms (missed cycles : 3).[0m ×2 + 35.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861678 ms (missed cycles : 3). + 35.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861678 ms (missed cycles : 3).[0m ×2 + 35.97sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650473 ms (missed cycles : 4). + 36.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650473 ms (missed cycles : 4).[0m ×2 + 37.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679972 ms (missed cycles : 2). + 37.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679972 ms (missed cycles : 2).[0m ×2 + 38.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351137 ms (missed cycles : 2). + 38.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351137 ms (missed cycles : 2).[0m ×2 + 39.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920365 ms (missed cycles : 2). + 39.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920365 ms (missed cycles : 2).[0m ×2 + 40.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099661 ms (missed cycles : 2). + 40.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099661 ms (missed cycles : 2).[0m ×2 + 40.94sINFOros2_control_nodeMuJoCo sim: 3.20% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 41.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251617 ms (missed cycles : 2). + 41.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251617 ms (missed cycles : 2).[0m ×2 + 42.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.195765 ms (missed cycles : 6). + 42.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.195765 ms (missed cycles : 6).[0m ×2 + 43.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063019 ms (missed cycles : 4). + 43.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063019 ms (missed cycles : 4).[0m ×2 + 44.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.895880 ms (missed cycles : 13). + 44.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.895880 ms (missed cycles : 13).[0m ×2 + 45.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447838 ms (missed cycles : 4). + 45.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447838 ms (missed cycles : 4).[0m ×2 + 46.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546750 ms (missed cycles : 2). + 46.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546750 ms (missed cycles : 2).[0m ×2 + 47.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.063113 ms (missed cycles : 4). + 47.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.063113 ms (missed cycles : 4).[0m ×2 + 48.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721874 ms (missed cycles : 2). + 48.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721874 ms (missed cycles : 2).[0m ×2 + 49.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987272 ms (missed cycles : 3). + 49.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987272 ms (missed cycles : 3).[0m ×2 + 50.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305094 ms (missed cycles : 2). + 50.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305094 ms (missed cycles : 2).[0m ×2 + 51.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.671508 ms (missed cycles : 6). + 51.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.671508 ms (missed cycles : 6).[0m ×2 + 52.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942534 ms (missed cycles : 3). + 52.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942534 ms (missed cycles : 3).[0m ×2 + 54.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803500 ms (missed cycles : 2). + 54.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803500 ms (missed cycles : 2).[0m ×2 + 55.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724218 ms (missed cycles : 2). + 55.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724218 ms (missed cycles : 2).[0m ×2 + 56.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607858 ms (missed cycles : 5). + 56.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607858 ms (missed cycles : 5).[0m ×2 + 57.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119768 ms (missed cycles : 3). + 57.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119768 ms (missed cycles : 3).[0m ×2 + 58.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191731 ms (missed cycles : 6). + 58.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191731 ms (missed cycles : 6).[0m ×2 + 59.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795628 ms (missed cycles : 3). + 59.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795628 ms (missed cycles : 3).[0m ×2 + 60.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849024 ms (missed cycles : 3). + 60.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849024 ms (missed cycles : 3).[0m ×2 + 61.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499521 ms (missed cycles : 2). + 61.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499521 ms (missed cycles : 2).[0m ×2 + 61.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787170687.57109785 seconds ×3 + 61.71sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.91) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.71sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 62.18sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787170688.15349865 seconds. ×3 + 62.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430449 ms (missed cycles : 3). + 62.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430449 ms (missed cycles : 3).[0m ×2 + 62.58sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 62.60sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 63.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623516 ms (missed cycles : 7). + 63.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623516 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 56.4s | 184 warnings · 67 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885544 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885544 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978440 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978440 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.918762 ms (missed cycles : 7). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.918762 ms (missed cycles : 7).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410014 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410014 ms (missed cycles : 2).[0m ×2 + 3.88sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.88sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.93sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787170724.90661240 seconds ×3 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861766 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861766 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787170725.48655939 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907761 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907761 ms (missed cycles : 2).[0m ×2 + 5.94sINFOros2_control_nodeMuJoCo sim: 3.89% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713253 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713253 ms (missed cycles : 5).[0m ×2 + 7.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 7.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304882 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304882 ms (missed cycles : 3).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410222 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410222 ms (missed cycles : 3).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073276 ms (missed cycles : 4). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073276 ms (missed cycles : 4).[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930443 ms (missed cycles : 2). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930443 ms (missed cycles : 2).[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434275 ms (missed cycles : 3). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434275 ms (missed cycles : 3).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190177 ms (missed cycles : 3). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190177 ms (missed cycles : 3).[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750643 ms (missed cycles : 2). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750643 ms (missed cycles : 2).[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573042 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573042 ms (missed cycles : 2).[0m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914905 ms (missed cycles : 3). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914905 ms (missed cycles : 3).[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086616 ms (missed cycles : 2). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086616 ms (missed cycles : 2).[0m ×2 + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139990 ms (missed cycles : 3). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139990 ms (missed cycles : 3).[0m ×2 + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843605 ms (missed cycles : 2). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843605 ms (missed cycles : 2).[0m ×2 + 19.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.391269 ms (missed cycles : 6). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.391269 ms (missed cycles : 6).[0m ×2 + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609918 ms (missed cycles : 3). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609918 ms (missed cycles : 3).[0m ×2 + 22.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728003 ms (missed cycles : 4). + 22.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728003 ms (missed cycles : 4).[0m ×2 + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824372 ms (missed cycles : 3). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824372 ms (missed cycles : 3).[0m ×2 + 24.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.465414 ms (missed cycles : 6). + 24.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.465414 ms (missed cycles : 6).[0m ×2 + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678478 ms (missed cycles : 2). + 25.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678478 ms (missed cycles : 2).[0m ×2 + 26.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007828 ms (missed cycles : 3). + 26.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007828 ms (missed cycles : 3).[0m ×2 + 27.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102542 ms (missed cycles : 2). + 27.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102542 ms (missed cycles : 2).[0m ×2 + 28.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482780 ms (missed cycles : 2). + 28.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482780 ms (missed cycles : 2).[0m ×2 + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183899 ms (missed cycles : 2). + 29.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183899 ms (missed cycles : 2).[0m ×2 + 30.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946140 ms (missed cycles : 3). + 30.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946140 ms (missed cycles : 3).[0m ×2 + 31.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175543 ms (missed cycles : 2). + 31.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175543 ms (missed cycles : 2).[0m ×2 + 32.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.279283 ms (missed cycles : 6). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.279283 ms (missed cycles : 6).[0m ×2 + 33.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.572220 ms (missed cycles : 7). + 33.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.572220 ms (missed cycles : 7).[0m ×2 + 34.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203734 ms (missed cycles : 2). + 34.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203734 ms (missed cycles : 2).[0m ×2 + 35.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225984 ms (missed cycles : 2). + 35.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225984 ms (missed cycles : 2).[0m ×2 + 36.10sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.564227 ms (missed cycles : 8). + 36.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.564227 ms (missed cycles : 8).[0m ×2 + 36.88sINFOobjective_server_nodePlanning for 56 path waypoints. ×3 + 37.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.492902 ms (missed cycles : 6). + 37.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.492902 ms (missed cycles : 6).[0m ×2 + 38.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296677 ms (missed cycles : 4). + 38.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296677 ms (missed cycles : 4).[0m ×2 + 39.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783032 ms (missed cycles : 4). + 39.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783032 ms (missed cycles : 4).[0m ×2 + 40.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.854688 ms (missed cycles : 4). + 40.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.854688 ms (missed cycles : 4).[0m ×2 + 41.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613471 ms (missed cycles : 3). + 41.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613471 ms (missed cycles : 3).[0m ×2 + 43.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709581 ms (missed cycles : 4). + 43.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709581 ms (missed cycles : 4).[0m ×2 + 44.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162699 ms (missed cycles : 5). + 44.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162699 ms (missed cycles : 5).[0m ×2 + 45.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165294 ms (missed cycles : 2). + 45.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165294 ms (missed cycles : 2).[0m ×2 + 46.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806430 ms (missed cycles : 3). + 46.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806430 ms (missed cycles : 3).[0m ×2 + 47.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658809 ms (missed cycles : 3). + 47.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658809 ms (missed cycles : 3).[0m ×2 + 48.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.329980 ms (missed cycles : 7). + 48.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.329980 ms (missed cycles : 7).[0m ×2 + 49.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123776 ms (missed cycles : 3). + 49.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123776 ms (missed cycles : 3).[0m ×2 + 50.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.691883 ms (missed cycles : 4). + 50.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.691883 ms (missed cycles : 4).[0m ×2 + 51.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714139 ms (missed cycles : 3). + 51.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714139 ms (missed cycles : 3).[0m ×2 + 52.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488117 ms (missed cycles : 3). + 52.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488117 ms (missed cycles : 3).[0m ×2 + 53.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495894 ms (missed cycles : 6). + 53.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495894 ms (missed cycles : 6).[0m ×2 + 54.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638919 ms (missed cycles : 3). + 54.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638919 ms (missed cycles : 3).[0m ×2 + 55.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.234719 ms (missed cycles : 6). + 55.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.234719 ms (missed cycles : 6).[0m ×2 + 56.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886372 ms (missed cycles : 3). + 56.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886372 ms (missed cycles : 3).[0m ×2 + 58.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310911 ms (missed cycles : 2). + 58.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310911 ms (missed cycles : 2).[0m ×2 + 59.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304889 ms (missed cycles : 3). + 59.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304889 ms (missed cycles : 3).[0m ×2 + 60.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722568 ms (missed cycles : 2). + 60.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722568 ms (missed cycles : 2).[0m ×2 + 60.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787170781.29671025 seconds ×3 + 60.41sWARNlocal_costmap.local_costmapSensor origin at (-1.83, 10.66) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 60.41sWARNlocal_costmap.local_costmapSensor origin at (-2.56, 11.19) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 60.90sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787170781.87458324 seconds. ×3 + 61.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541459 ms (missed cycles : 4). + 61.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541459 ms (missed cycles : 4).[0m ×2 + 61.37sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 62.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138622 ms (missed cycles : 4). + 62.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138622 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.9s | 181 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.24sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.28sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787170866.24036241 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.53) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787170866.81380177 seconds. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420607 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420607 ms (missed cycles : 2).[0m ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.33sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.33sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.33sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289706 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289706 ms (missed cycles : 3).[0m ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898109 ms (missed cycles : 2). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898109 ms (missed cycles : 2).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.609951 ms (missed cycles : 5). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.609951 ms (missed cycles : 5).[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.345480 ms (missed cycles : 9). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.345480 ms (missed cycles : 9).[0m ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673069 ms (missed cycles : 3). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673069 ms (missed cycles : 3).[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006211 ms (missed cycles : 2). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006211 ms (missed cycles : 2).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829226 ms (missed cycles : 5). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829226 ms (missed cycles : 5).[0m ×2 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696544 ms (missed cycles : 3). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696544 ms (missed cycles : 3).[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307398 ms (missed cycles : 4). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307398 ms (missed cycles : 4).[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373916 ms (missed cycles : 3). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373916 ms (missed cycles : 3).[0m ×2 + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822369 ms (missed cycles : 2). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822369 ms (missed cycles : 2).[0m ×2 + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481500 ms (missed cycles : 3). + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481500 ms (missed cycles : 3).[0m ×2 + 19.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915004 ms (missed cycles : 3). + 19.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915004 ms (missed cycles : 3).[0m ×2 + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758260 ms (missed cycles : 4). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758260 ms (missed cycles : 4).[0m ×2 + 21.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057918 ms (missed cycles : 3). + 21.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057918 ms (missed cycles : 3).[0m ×2 + 22.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917414 ms (missed cycles : 4). + 22.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917414 ms (missed cycles : 4).[0m ×2 + 24.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.283220 ms (missed cycles : 7). + 24.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.283220 ms (missed cycles : 7).[0m ×2 + 25.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675805 ms (missed cycles : 2). + 25.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675805 ms (missed cycles : 2).[0m ×2 + 26.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211977 ms (missed cycles : 2). + 26.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211977 ms (missed cycles : 2).[0m ×2 + 27.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197933 ms (missed cycles : 3). + 27.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197933 ms (missed cycles : 3).[0m ×2 + 28.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462824 ms (missed cycles : 3). + 28.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462824 ms (missed cycles : 3).[0m ×2 + 29.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967464 ms (missed cycles : 2). + 29.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967464 ms (missed cycles : 2).[0m ×2 + 30.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.408754 ms (missed cycles : 7). + 30.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.408754 ms (missed cycles : 7).[0m ×2 + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645266 ms (missed cycles : 2). + 31.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645266 ms (missed cycles : 2).[0m ×2 + 32.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448642 ms (missed cycles : 3). + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448642 ms (missed cycles : 3).[0m ×2 + 33.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.324604 ms (missed cycles : 6). + 33.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.324604 ms (missed cycles : 6).[0m ×2 + 33.59sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822135 ms (missed cycles : 2). + 34.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822135 ms (missed cycles : 2).[0m ×2 + 35.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271288 ms (missed cycles : 3). + 35.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271288 ms (missed cycles : 3).[0m ×2 + 36.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044640 ms (missed cycles : 2). + 36.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044640 ms (missed cycles : 2).[0m ×2 + 37.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.681397 ms (missed cycles : 8). + 37.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.681397 ms (missed cycles : 8).[0m ×2 + 38.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739356 ms (missed cycles : 3). + 38.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739356 ms (missed cycles : 3).[0m ×2 + 39.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912981 ms (missed cycles : 7). + 39.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.912981 ms (missed cycles : 7).[0m ×2 + 40.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.662623 ms (missed cycles : 7). + 40.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.662623 ms (missed cycles : 7).[0m ×2 + 41.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427184 ms (missed cycles : 3). + 41.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427184 ms (missed cycles : 3).[0m ×2 + 42.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158810 ms (missed cycles : 2). + 42.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158810 ms (missed cycles : 2).[0m ×2 + 43.97sINFOros2_control_nodeMuJoCo sim: 4.76% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 44.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363507 ms (missed cycles : 3). + 44.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363507 ms (missed cycles : 3).[0m ×2 + 45.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488261 ms (missed cycles : 2). + 45.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488261 ms (missed cycles : 2).[0m ×2 + 46.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524938 ms (missed cycles : 2). + 46.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524938 ms (missed cycles : 2).[0m ×2 + 47.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709649 ms (missed cycles : 4). + 47.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709649 ms (missed cycles : 4).[0m ×2 + 48.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742492 ms (missed cycles : 3). + 48.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742492 ms (missed cycles : 3).[0m ×2 + 49.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690949 ms (missed cycles : 2). + 49.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690949 ms (missed cycles : 2).[0m ×2 + 50.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949723 ms (missed cycles : 3). + 50.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949723 ms (missed cycles : 3).[0m ×2 + 51.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900127 ms (missed cycles : 2). + 51.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900127 ms (missed cycles : 2).[0m ×2 + 52.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857971 ms (missed cycles : 2). + 52.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857971 ms (missed cycles : 2).[0m ×2 + 53.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.525599 ms (missed cycles : 5). + 53.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.525599 ms (missed cycles : 5).[0m ×2 + 54.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231711 ms (missed cycles : 2). + 54.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231711 ms (missed cycles : 2).[0m ×2 + 55.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213169 ms (missed cycles : 3). + 55.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213169 ms (missed cycles : 3).[0m ×2 + 56.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607733 ms (missed cycles : 5). + 56.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607733 ms (missed cycles : 5).[0m ×2 + 57.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664386 ms (missed cycles : 3). + 57.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664386 ms (missed cycles : 3).[0m ×2 + 58.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834040 ms (missed cycles : 2). + 58.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834040 ms (missed cycles : 2).[0m ×2 + 59.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787170922.18393207 seconds ×3 + 59.32sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 59.32sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.98) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 59.79sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787170922.75003862 seconds. ×3 + 59.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.156003 ms (missed cycles : 7). + 59.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.156003 ms (missed cycles : 7).[0m ×2 + 60.22sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 60.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282830 ms (missed cycles : 3). + 60.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282830 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 144 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.04sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.05sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625609 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625609 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.593505 ms (missed cycles : 5). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.593505 ms (missed cycles : 5).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910189 ms (missed cycles : 5). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910189 ms (missed cycles : 5).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808164 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808164 ms (missed cycles : 2).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.984936 ms (missed cycles : 6). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.984936 ms (missed cycles : 6).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.218296 ms (missed cycles : 6). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.218296 ms (missed cycles : 6).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180970 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180970 ms (missed cycles : 2).[0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995203 ms (missed cycles : 3). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995203 ms (missed cycles : 3).[0m ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997656 ms (missed cycles : 3). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997656 ms (missed cycles : 3).[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821579 ms (missed cycles : 4). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821579 ms (missed cycles : 4).[0m ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277893 ms (missed cycles : 3). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277893 ms (missed cycles : 3).[0m ×2 + 18.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369918 ms (missed cycles : 6). + 18.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369918 ms (missed cycles : 6).[0m ×2 + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120347 ms (missed cycles : 4). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120347 ms (missed cycles : 4).[0m ×2 + 20.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970058 ms (missed cycles : 3). + 20.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970058 ms (missed cycles : 3).[0m ×2 + 21.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896988 ms (missed cycles : 3). + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896988 ms (missed cycles : 3).[0m ×2 + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904919 ms (missed cycles : 2). + 22.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904919 ms (missed cycles : 2).[0m ×2 + 23.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250161 ms (missed cycles : 4). + 23.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.250161 ms (missed cycles : 4).[0m ×2 + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138058 ms (missed cycles : 3). + 24.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138058 ms (missed cycles : 3).[0m ×2 + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552485 ms (missed cycles : 5). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552485 ms (missed cycles : 5).[0m ×2 + 26.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805320 ms (missed cycles : 3). + 26.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805320 ms (missed cycles : 3).[0m ×2 + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479956 ms (missed cycles : 3). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479956 ms (missed cycles : 3).[0m ×2 + 28.52sINFOros2_control_nodeMuJoCo sim: 2.47% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722075 ms (missed cycles : 3). + 28.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722075 ms (missed cycles : 3).[0m ×2 + 29.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200416 ms (missed cycles : 2). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200416 ms (missed cycles : 2).[0m ×2 + 30.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110862 ms (missed cycles : 2). + 30.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110862 ms (missed cycles : 2).[0m ×2 + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.756393 ms (missed cycles : 4). + 31.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.756393 ms (missed cycles : 4).[0m ×2 + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482191 ms (missed cycles : 5). + 32.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482191 ms (missed cycles : 5).[0m ×2 + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244655 ms (missed cycles : 2). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244655 ms (missed cycles : 2).[0m ×2 + 34.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877127 ms (missed cycles : 4). + 34.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877127 ms (missed cycles : 4).[0m ×2 + 35.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941332 ms (missed cycles : 4). + 35.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.941332 ms (missed cycles : 4).[0m ×2 + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742462 ms (missed cycles : 3). + 37.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742462 ms (missed cycles : 3).[0m ×2 + 38.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895546 ms (missed cycles : 2). + 38.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895546 ms (missed cycles : 2).[0m ×2 + 39.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528935 ms (missed cycles : 5). + 39.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528935 ms (missed cycles : 5).[0m ×2 + 40.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909060 ms (missed cycles : 3). + 40.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909060 ms (missed cycles : 3).[0m ×2 + 41.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958851 ms (missed cycles : 2). + 41.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958851 ms (missed cycles : 2).[0m ×2 + 42.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543595 ms (missed cycles : 3). + 42.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543595 ms (missed cycles : 3).[0m ×2 + 43.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374239 ms (missed cycles : 2). + 43.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374239 ms (missed cycles : 2).[0m ×2 + 44.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969728 ms (missed cycles : 3). + 44.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969728 ms (missed cycles : 3).[0m ×2 + 45.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860571 ms (missed cycles : 2). + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860571 ms (missed cycles : 2).[0m ×2 + 46.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.453142 ms (missed cycles : 6). + 46.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.453142 ms (missed cycles : 6).[0m ×2 + 47.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177418 ms (missed cycles : 3). + 47.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177418 ms (missed cycles : 3).[0m ×2 + 47.64sINFOjoint_trajectory_controllerGoal reached, success! + 47.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.66sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787170626.04461932 seconds ×3 + 48.22sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787170626.60786366 seconds. ×3 + 48.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816594 ms (missed cycles : 4). + 48.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816594 ms (missed cycles : 4).[0m ×2 + 49.42sINFOobjective_server_nodeFound path in 0 iterations (2.9955e-05 s). ×2 + 49.42sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502682 ms (missed cycles : 5). + 49.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502682 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.7s | 113 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623516 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623516 ms (missed cycles : 7).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007296 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007296 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167924 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167924 ms (missed cycles : 3).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.73sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.74sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787170692.25364089 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088083 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088083 ms (missed cycles : 2).[0m ×2 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508913 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508913 ms (missed cycles : 4).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787170693.81152415 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084498 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084498 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687291 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687291 ms (missed cycles : 2).[0m ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.98sINFOjoint_trajectory_controllerReceived new action goal + 6.98sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264652 ms (missed cycles : 3). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264652 ms (missed cycles : 3).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599741 ms (missed cycles : 2). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599741 ms (missed cycles : 2).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739198 ms (missed cycles : 2). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739198 ms (missed cycles : 2).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025990 ms (missed cycles : 3). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025990 ms (missed cycles : 3).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818785 ms (missed cycles : 2). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818785 ms (missed cycles : 2).[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760604 ms (missed cycles : 4). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760604 ms (missed cycles : 4).[0m ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379509 ms (missed cycles : 3). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379509 ms (missed cycles : 3).[0m ×2 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875847 ms (missed cycles : 4). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875847 ms (missed cycles : 4).[0m ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290436 ms (missed cycles : 2). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290436 ms (missed cycles : 2).[0m ×2 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667177 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667177 ms (missed cycles : 2).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864917 ms (missed cycles : 2). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864917 ms (missed cycles : 2).[0m ×2 + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.290422 ms (missed cycles : 6). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.290422 ms (missed cycles : 6).[0m ×2 + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118521 ms (missed cycles : 3). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118521 ms (missed cycles : 3).[0m ×2 + 20.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207133 ms (missed cycles : 2). + 20.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207133 ms (missed cycles : 2).[0m ×2 + 21.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991347 ms (missed cycles : 2). + 22.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991347 ms (missed cycles : 2).[0m ×2 + 23.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.347383 ms (missed cycles : 9). + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.347383 ms (missed cycles : 9).[0m ×2 + 24.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771867 ms (missed cycles : 2). + 24.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771867 ms (missed cycles : 2).[0m ×2 + 25.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877091 ms (missed cycles : 3). + 25.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877091 ms (missed cycles : 3).[0m ×2 + 26.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196661 ms (missed cycles : 2). + 26.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196661 ms (missed cycles : 2).[0m ×2 + 27.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418458 ms (missed cycles : 5). + 27.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418458 ms (missed cycles : 5).[0m ×2 + 28.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930739 ms (missed cycles : 2). + 28.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930739 ms (missed cycles : 2).[0m ×2 + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106993 ms (missed cycles : 2). + 29.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106993 ms (missed cycles : 2).[0m ×2 + 30.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738398 ms (missed cycles : 2). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738398 ms (missed cycles : 2).[0m ×2 + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885544 ms (missed cycles : 3). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885544 ms (missed cycles : 3).[0m ×2 + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978440 ms (missed cycles : 3). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978440 ms (missed cycles : 3).[0m ×2 + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.918762 ms (missed cycles : 7). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.918762 ms (missed cycles : 7).[0m ×2 + 34.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410014 ms (missed cycles : 2). + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410014 ms (missed cycles : 2).[0m ×2 + 35.39sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787170724.90661240 seconds ×3 + 35.46sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 35.46sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 35.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861766 ms (missed cycles : 2). + 35.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861766 ms (missed cycles : 2).[0m ×2 + 35.97sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787170725.48655939 seconds. ×3 + 36.50sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907761 ms (missed cycles : 2). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907761 ms (missed cycles : 2).[0m ×2 + 37.40sINFOros2_control_nodeMuJoCo sim: 3.89% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 37.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713253 ms (missed cycles : 5). + 37.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713253 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.6s | 59 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213169 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213169 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607733 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607733 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664386 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664386 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834040 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834040 ms (missed cycles : 2).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.53sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787170922.18393207 seconds ×3 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.66sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.98) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.13sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787170922.75003862 seconds. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.156003 ms (missed cycles : 7). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.156003 ms (missed cycles : 7).[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.60sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.60sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.60sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.60sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282830 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282830 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900996 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900996 ms (missed cycles : 3).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667663 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667663 ms (missed cycles : 2).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237365 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237365 ms (missed cycles : 2).[0m ×2 + 8.95sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 8.98sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.02sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 9.07sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.11sINFOobjective_server_nodeFound path in 0 iterations (8.29e-07 s). ×2 + 9.18sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.22sINFOobjective_server_nodeFound path in 0 iterations (6.36e-07 s). ×2 + 9.41sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.455069 ms (missed cycles : 5). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.455069 ms (missed cycles : 5).[0m ×2 + 9.48sINFOobjective_server_nodeFound path in 0 iterations (6.81e-07 s). ×2 + 9.81sINFOobjective_server_nodeFound path in 69 iterations (0.0802497 s). ×2 + 10.06sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 10.13sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788549 ms (missed cycles : 3). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788549 ms (missed cycles : 3).[0m ×2 + 10.60sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.66sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 11.12sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.17sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477412 ms (missed cycles : 3). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477412 ms (missed cycles : 3).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828556 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828556 ms (missed cycles : 2).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183281 ms (missed cycles : 2). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183281 ms (missed cycles : 2).[0m ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302955 ms (missed cycles : 5). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302955 ms (missed cycles : 5).[0m ×2 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.032844 ms (missed cycles : 10). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.032844 ms (missed cycles : 10).[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312056 ms (missed cycles : 4). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312056 ms (missed cycles : 4).[0m ×2 + 17.18sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787170935.79558182 seconds ×3 + 17.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787170936.39231586 seconds. ×3 + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900096 ms (missed cycles : 2). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900096 ms (missed cycles : 2).[0m ×2 + 17.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.79sINFOmove_groupClearing octomap...[0m ×2 + 17.79sINFOmove_groupOctomap cleared.[0m ×2 + 18.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787170937.10597634 seconds ×3 + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238299 ms (missed cycles : 4). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238299 ms (missed cycles : 4).[0m ×2 + 19.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787170937.66842675 seconds. ×3 + 19.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787170938.31866050 seconds ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 90 errors · 33 warnings · 428 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302955 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302955 ms (missed cycles : 5).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.032844 ms (missed cycles : 10). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.032844 ms (missed cycles : 10).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312056 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312056 ms (missed cycles : 4).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787170935.79558182 seconds ×3 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787170936.39231586 seconds. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900096 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900096 ms (missed cycles : 2).[0m ×2 + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.13sINFOmove_groupClearing octomap...[0m ×2 + 3.13sINFOmove_groupOctomap cleared.[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787170937.10597634 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238299 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238299 ms (missed cycles : 4).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787170937.66842675 seconds. ×3 + 5.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787170938.31866050 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665432 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665432 ms (missed cycles : 3).[0m ×2 + 5.27sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017593 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017593 ms (missed cycles : 3).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592002 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592002 ms (missed cycles : 3).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816556 ms (missed cycles : 3). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816556 ms (missed cycles : 3).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340141 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340141 ms (missed cycles : 3).[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076523 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076523 ms (missed cycles : 2).[0m ×2 + 11.11sERRORweb_video_server-32process[web_video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORui_teleop_bridge-29process[ui_teleop_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORexecute_objective_bridge-28process[execute_objective_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sINFOweb_video_server-32sending signal 'SIGTERM' to process[web_video_server-32] ×2 + 11.16sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] ×2 + 11.21sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] ×2 + 11.26sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] ×2 + 11.28sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] ×2 + 11.30sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.32sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.35sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 11.38sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 11.41sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 11.43sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.43sINFOweb_video_server-32process has finished cleanly [pid 9751] ×2 + 11.44sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 11.48sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 11.50sINFOtf2_web_republisher_node-31process has finished cleanly [pid 9750] ×2 + 11.51sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 11.54sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 11.54sINFOcontroller_managerShutdown request received.... + 11.54sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.54sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.54sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.55sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.55sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.55sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.55sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.55sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.55sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.55sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.55sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.55sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.55sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.55sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.55sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.55sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.55sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.55sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.55sINFOcontroller_managerShutting down the controller manager. + 11.55sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.55sERRORmove_group-20process has died [pid 9680, 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_jnkprxf7 --params-file /tmp/launch_params_mwu5t5h4 --params-file /tmp/launch_params_jf04a45n --params-file /tmp/launch_params_j7h02kts --params-file /tmp/launch_params_5ovx9nug --params-file /tmp/launch_params_e7_02l6b --params-file /tmp/launch_params_9r9mihed --params-file /tmp/launch_params_kkf2xxam --params-file /tmp/launch_params__xrlt9u3']. ×2 + 11.55sERRORui_teleop_bridge-29process has died [pid 9748, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_mdtmgxis']. ×2 + 11.57sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.59sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.59sINFOcomponent_container_mt-27process has finished cleanly [pid 9746] ×2 + 11.61sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.63sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.65sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.65sINFOexecute_objective_bridge-28process has finished cleanly [pid 9747] ×2 + 11.65sERRORobjective_server_node_main-25process has died [pid 9732, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level info --ros-args --params-file /tmp/launch_params_dh7nj_s4 --params-file /tmp/launch_params_5mf6q4vd --params-file /tmp/launch_params_6lujjg6y --params-file /tmp/launch_params_7ags_vhn --params-file /tmp/launch_params_xcygjcz2 --params-file /tmp/launch_params_n21p7sbd']. ×2 + 11.67sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 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 + 11.69sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.69sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.69sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.69sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.1', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.69sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.69sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 11.69sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.69sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.69sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.69sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.69sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.69sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.69sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.69sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.69sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.69sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.69sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.69sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.69sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system ×2 + 11.70sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.70sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sINFOobjective_server_node[2026-08-19 20:22:24.770] [moveit_pro_license] [critical] ×2 + 11.70sINFOobjective_server_node************************************************* ×4 + 11.70sINFOobjective_server_node* MoveIt Pro License ×2 + 11.70sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×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 10275: ×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 0x7f0126480a63, in __clone ×2 + 11.70sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f01263f3aa3, in ×2 + 11.70sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0126683db3, in ×2 + 11.70sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.1", at 0x7f0126cda1a7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.70sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f01269f84d0, in rclcpp::Rate::sleep() ×2 + 11.70sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f012694ba88, 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 0x7f0126910a71, in ×2 + 11.70sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0126652390, in __cxa_throw ×2 + 11.70sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f012663ca54, in std::terminate() ×2 + 11.70sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f01266520d9, in ×2 + 11.70sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f012663cff4, in ×2 + 11.70sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f012637f8fe, in abort ×2 + 11.70sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f012639c27d, in raise ×2 + 11.70sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f01263f5b2c, in pthread_kill ×2 + 11.70sERRORmove_groupAborted (Signal sent by tkill() 9680 0) ×2 + 11.70sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.70sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.70sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55b0a3715d14, in _start ×2 + 11.70sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b2b38b28a, in __libc_start_main ×2 + 11.70sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b2b38b1d0, in ×2 + 11.70sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b2b3a8bbd, in exit ×2 + 11.70sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b2b3a8a75, in ×2 + 11.70sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f0b2b8778f5, in spdlog::details::registry::~registry() ×2 + 11.70sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55b0a3716bf9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.70sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55b0a371d865, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.70sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55b0a371caf9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.70sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55b0a37190cb, in spdlog_ros::RosSink::~RosSink() ×2 + 11.70sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55b0a3716bf9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.70sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b2bf4a454, in rclcpp::Node::~Node() ×2 + 11.70sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b2bf05515, in ×2 + 11.70sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b2bf48d20, in ×2 + 11.70sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b2bf48c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.70sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b2bf055d9, in ×2 + 11.70sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b2bf0a161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.70sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f0ad69c3bb0]) ×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_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.71sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.71sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.71sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[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_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.71sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[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 + 11.71sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.71sINFOcontroller_serverCleaning up + 11.71sINFOlocal_costmap.local_costmapCleaning up + 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 ×6 + 11.72sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.72sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.75sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.75sINFOmap_serverDeactivating + 11.75sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.76sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.76sINFOros2_control_nodepublish_async_failures_ 3[0m ×4 + 11.76sINFOmap_serverCleaning up + 11.76sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.76sINFOsmoother_serverDeactivating + 11.76sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.77sINFOsmoother_serverCleaning up + 11.79sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.79sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.80sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.80sINFOplanner_serverDeactivating + 11.80sINFOglobal_costmap.global_costmapDeactivating + 11.80sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1787170944.784 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.89sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.89sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.89sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.89sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.89sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.89sINFOvelocity_smootherDeactivating + 11.89sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.00sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.00sINFOwaypoint_followerDeactivating + 12.00sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.11sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.12sINFObt_navigatorDeactivating + 12.12sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.22sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.22sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.23sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.23sINFOplanner_serverCleaning up + 12.23sINFObehavior_serverDeactivating + 12.23sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.25sINFOglobal_costmap.global_costmapCleaning up + 12.25sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.25sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.29sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.29sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.29sINFObt_navigatorCleaning up + 12.34sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.34sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.34sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.34sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.34sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.34sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.34sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.35sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.35sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.35sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.35sINFOvelocity_smootherCleaning up + 12.35sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.35sINFOwaypoint_followerCleaning up + 12.38sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.40sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.40sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 12.40sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.40sINFObehavior_serverCleaning up + 12.44sINFObt_navigatorCompleted Cleaning up + 12.44sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.44sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.44sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.45sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9725] ×2 + 12.46sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.46sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.46sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.46sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.46sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.46sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.46sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.47sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9684] ×2 + 12.54sINFOparameter_manager_node-21process has finished cleanly [pid 9681] ×2 + 12.55sINFOwaypoint_manager_node-22process has finished cleanly [pid 9683] ×2 + 12.55sINFOcomponent_container_mt-26process has finished cleanly [pid 9745] ×2 + 12.61sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9590] ×2 + 12.63sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9589] ×2 + 12.67sINFOstatic_transform_publisher-4process has finished cleanly [pid 9587] ×2 + 12.69sINFOstatic_transform_publisher-3process has finished cleanly [pid 9586] ×2 + 12.71sINFOstatic_transform_publisher-2process has finished cleanly [pid 9585] ×2 + 12.71sERRORodom_qos_relay.py-5process has died [pid 9588, 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 + 12.77sERRORcomponent_container_isolated-1process has died [pid 9584, exit code -6, 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_1qusmian --params-file /tmp/launch_params_519ynh5o -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.05sINFOweb_bridge-30process has finished cleanly [pid 9749] ×2 + 14.05sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system ×2 + 14.27sINFOros2_control_node-8process has finished cleanly [pid 9591] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 3 errors · 50 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886372 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886372 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310911 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310911 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304889 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304889 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722568 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722568 ms (missed cycles : 2).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGoal reached, success! + 3.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787170781.29671025 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-1.83, 10.66) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-2.56, 11.19) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.92sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787170781.87458324 seconds. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541459 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541459 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138622 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138622 ms (missed cycles : 4).[0m ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.20sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258687 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258687 ms (missed cycles : 6).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.600981 ms (missed cycles : 8). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.600981 ms (missed cycles : 8).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517560 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517560 ms (missed cycles : 3).[0m ×2 + 8.97sINFOros2_control_nodeMuJoCo sim: 4.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782247 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782247 ms (missed cycles : 2).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897960 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897960 ms (missed cycles : 2).[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192477 ms (missed cycles : 3). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192477 ms (missed cycles : 3).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506473 ms (missed cycles : 3). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506473 ms (missed cycles : 3).[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693529 ms (missed cycles : 2). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693529 ms (missed cycles : 2).[0m ×2 + 13.95sINFOjoint_trajectory_controllerGot request to cancel goal + 13.95sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.95sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1787170791.95361423 seconds ×3 + 14.57sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787170792.52010441 seconds. ×3 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.199983 ms (missed cycles : 6). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.199983 ms (missed cycles : 6).[0m ×2 + 15.02sINFOobjective_server_nodeFound path in 0 iterations (7.76e-07 s). ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786837 ms (missed cycles : 5). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786837 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.7s | 38 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191731 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191731 ms (missed cycles : 6).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795628 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795628 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849024 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849024 ms (missed cycles : 3).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499521 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499521 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.35sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787170687.57109785 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.91) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.96sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787170688.15349865 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430449 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430449 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.41sINFOjoint_trajectory_controllerReceived new action goal + 4.41sINFOjoint_trajectory_controllerAccepted new action goal + 4.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623516 ms (missed cycles : 7). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623516 ms (missed cycles : 7).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007296 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007296 ms (missed cycles : 3).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167924 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167924 ms (missed cycles : 3).[0m ×2 + 8.06sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787170692.25364089 seconds ×3 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088083 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088083 ms (missed cycles : 2).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508913 ms (missed cycles : 4). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508913 ms (missed cycles : 4).[0m ×2 + 9.62sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787170693.81152415 seconds. ×3 + 10.05sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084498 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084498 ms (missed cycles : 2).[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687291 ms (missed cycles : 2). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687291 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.9s | 30 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969728 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969728 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860571 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860571 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.453142 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.453142 ms (missed cycles : 6).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177418 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177418 ms (missed cycles : 3).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.27sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787170626.04461932 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787170626.60786366 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816594 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816594 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.9955e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502682 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502682 ms (missed cycles : 5).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795535 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795535 ms (missed cycles : 2).[0m ×2 + 7.19sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787170629.93799257 seconds ×3 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863322 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863322 ms (missed cycles : 2).[0m ×2 + 7.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787170630.50498962 seconds. ×3 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845491 ms (missed cycles : 4). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845491 ms (missed cycles : 4).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728206 ms (missed cycles : 4). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728206 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 24 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183281 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183281 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302955 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302955 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.032844 ms (missed cycles : 10). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.032844 ms (missed cycles : 10).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312056 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312056 ms (missed cycles : 4).[0m ×2 + 3.54sINFOjoint_trajectory_controllerGoal reached, success! + 3.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787170935.79558182 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787170936.39231586 seconds. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900096 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900096 ms (missed cycles : 2).[0m ×2 + 4.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.19sINFOmove_groupClearing octomap...[0m ×2 + 4.19sINFOmove_groupOctomap cleared.[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787170937.10597634 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238299 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238299 ms (missed cycles : 4).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787170937.66842675 seconds. ×3 + 6.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787170938.31866050 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665432 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665432 ms (missed cycles : 3).[0m ×2 + 6.34sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017593 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017593 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969728 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969728 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860571 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860571 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.453142 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.453142 ms (missed cycles : 6).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177418 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177418 ms (missed cycles : 3).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGoal reached, success! + 3.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787170626.04461932 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787170626.60786366 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816594 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816594 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.9955e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502682 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502682 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 5.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177418 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177418 ms (missed cycles : 3).[0m ×2 + 0.06sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.06sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787170626.04461932 seconds ×3 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787170626.60786366 seconds. ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816594 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816594 ms (missed cycles : 4).[0m ×2 + 1.84sINFOobjective_server_nodeFound path in 0 iterations (2.9955e-05 s). ×2 + 1.84sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.86sINFOjoint_trajectory_controllerReceived new action goal + 1.86sINFOjoint_trajectory_controllerAccepted new action goal + 1.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502682 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502682 ms (missed cycles : 5).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795535 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795535 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787170629.93799257 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863322 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863322 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787170630.50498962 seconds. ×3 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845491 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845491 ms (missed cycles : 4).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728206 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728206 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 20 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191731 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191731 ms (missed cycles : 6).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795628 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795628 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849024 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849024 ms (missed cycles : 3).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499521 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499521 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787170687.57109785 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.91) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.96sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787170688.15349865 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430449 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430449 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.41sINFOjoint_trajectory_controllerReceived new action goal + 4.41sINFOjoint_trajectory_controllerAccepted new action goal + 4.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623516 ms (missed cycles : 7). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623516 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 20 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191731 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191731 ms (missed cycles : 6).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795628 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795628 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849024 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849024 ms (missed cycles : 3).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499521 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499521 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787170687.57109785 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.91) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.96sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787170688.15349865 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430449 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430449 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.41sINFOjoint_trajectory_controllerReceived new action goal + 4.41sINFOjoint_trajectory_controllerAccepted new action goal + 4.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623516 ms (missed cycles : 7). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623516 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 20 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191731 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191731 ms (missed cycles : 6).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795628 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795628 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849024 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849024 ms (missed cycles : 3).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499521 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499521 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787170687.57109785 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.91) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.96sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787170688.15349865 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430449 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430449 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.41sINFOjoint_trajectory_controllerReceived new action goal + 4.41sINFOjoint_trajectory_controllerAccepted new action goal + 4.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623516 ms (missed cycles : 7). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623516 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 20 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191731 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191731 ms (missed cycles : 6).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795628 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795628 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849024 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849024 ms (missed cycles : 3).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499521 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499521 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787170687.57109785 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.91) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.96sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787170688.15349865 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430449 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430449 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.41sINFOjoint_trajectory_controllerReceived new action goal + 4.41sINFOjoint_trajectory_controllerAccepted new action goal + 4.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623516 ms (missed cycles : 7). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623516 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 20 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191731 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191731 ms (missed cycles : 6).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795628 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795628 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849024 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849024 ms (missed cycles : 3).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499521 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499521 ms (missed cycles : 2).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGoal reached, success! + 3.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787170687.57109785 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.91) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.96sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787170688.15349865 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430449 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430449 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.41sINFOjoint_trajectory_controllerReceived new action goal + 4.41sINFOjoint_trajectory_controllerAccepted new action goal + 4.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623516 ms (missed cycles : 7). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623516 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 23 warnings · 23 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885544 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885544 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978440 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978440 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.918762 ms (missed cycles : 7). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.918762 ms (missed cycles : 7).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410014 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410014 ms (missed cycles : 2).[0m ×2 + 3.88sINFOjoint_trajectory_controllerGoal reached, success! + 3.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.93sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787170724.90661240 seconds ×3 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861766 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861766 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787170725.48655939 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907761 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907761 ms (missed cycles : 2).[0m ×2 + 5.94sINFOros2_control_nodeMuJoCo sim: 3.89% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713253 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713253 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 23 warnings · 23 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885544 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885544 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978440 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978440 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.918762 ms (missed cycles : 7). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.918762 ms (missed cycles : 7).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410014 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410014 ms (missed cycles : 2).[0m ×2 + 3.88sINFOjoint_trajectory_controllerGoal reached, success! + 3.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.93sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787170724.90661240 seconds ×3 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861766 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861766 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787170725.48655939 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907761 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907761 ms (missed cycles : 2).[0m ×2 + 5.94sINFOros2_control_nodeMuJoCo sim: 3.89% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713253 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713253 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 23 warnings · 23 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885544 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885544 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978440 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978440 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.918762 ms (missed cycles : 7). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.918762 ms (missed cycles : 7).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410014 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410014 ms (missed cycles : 2).[0m ×2 + 3.88sINFOjoint_trajectory_controllerGoal reached, success! + 3.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.93sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787170724.90661240 seconds ×3 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861766 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861766 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787170725.48655939 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907761 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907761 ms (missed cycles : 2).[0m ×2 + 5.94sINFOros2_control_nodeMuJoCo sim: 3.89% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713253 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713253 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 20 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787170866.24036241 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.53) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787170866.81380177 seconds. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 20 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787170866.24036241 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.53) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787170866.81380177 seconds. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 20 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787170866.24036241 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.53) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787170866.81380177 seconds. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 20 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787170866.24036241 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.53) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787170866.81380177 seconds. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787170866.24036241 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.53) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787170866.81380177 seconds. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 20 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787170866.24036241 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.53) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787170866.81380177 seconds. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 20 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787170866.24036241 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.53) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787170866.81380177 seconds. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 20 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654644 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219510 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510460 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796782 ms (missed cycles : 2).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787170866.24036241 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.32sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.53) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787170866.81380177 seconds. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280147 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241588 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183281 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183281 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302955 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302955 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.032844 ms (missed cycles : 10). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.032844 ms (missed cycles : 10).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312056 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.312056 ms (missed cycles : 4).[0m ×2 + 3.54sINFOjoint_trajectory_controllerGoal reached, success! + 3.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787170935.79558182 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787170936.39231586 seconds. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900096 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900096 ms (missed cycles : 2).[0m ×2 + 4.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.19sINFOmove_groupClearing octomap...[0m ×2 + 4.19sINFOmove_groupOctomap cleared.[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787170937.10597634 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238299 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238299 ms (missed cycles : 4).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787170937.66842675 seconds. ×3 + 6.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787170938.31866050 seconds ×3 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969728 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969728 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860571 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860571 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.453142 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.453142 ms (missed cycles : 6).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177418 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177418 ms (missed cycles : 3).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGoal reached, success! + 3.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787170626.04461932 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787170626.60786366 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816594 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816594 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.9955e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.08sINFOjoint_trajectory_controllerReceived new action goal + 5.08sINFOjoint_trajectory_controllerAccepted new action goal + 5.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502682 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.502682 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 5.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 5.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 61.5s | 10 errors · 179 warnings · 4868 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/2026-08-19-20-15-19-113081-132f3aafb7d2-9534 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 10.65sINFOstatic_tf_mj_world_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'world' + 10.66sINFOstatic_tf_map_to_odomSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'map' to 'odom' + 10.66sINFOstatic_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' + 10.72sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 10.72sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 10.73sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 10.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 10.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 10.75sINFOcontroller_managerupdate rate is 600 Hz + 10.75sINFOcontroller_managerOverruns handling is : enabled + 10.75sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 10.76sWARNcontroller_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. + 10.77sINFOcontroller_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. + 10.81sINFOcontroller_serverCreating controller server + 10.84sINFOlocal_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. + 10.84sINFOlocal_costmap.local_costmapCreating Costmap + 10.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 10.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 10.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 10.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 10.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 10.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 10.92sINFOros2_control_node-8process started with pid [9591] ×2 + 10.93sINFOmap_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. + 10.93sINFOmap_serverCreating + 10.93sINFOmove_group-20process started with pid [9680] ×2 + 10.93sINFOparameter_manager_node-21process started with pid [9681] ×2 + 10.93sINFOwaypoint_manager_node-22process started with pid [9683] ×2 + 10.93sINFOmove_joint_resampler_node-23process started with pid [9684] ×2 + 10.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 10.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 10.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 10.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 10.95sINFOmove_end_effector_resampler_node-24process started with pid [9725] ×2 + 10.95sINFOobjective_server_node_main-25process started with pid [9732] ×2 + 10.95sINFOcomponent_container_mt-26process started with pid [9745] ×2 + 10.95sINFOcomponent_container_mt-27process started with pid [9746] ×2 + 10.95sINFOexecute_objective_bridge-28process started with pid [9747] ×2 + 10.95sINFOui_teleop_bridge-29process started with pid [9748] ×2 + 10.95sINFOweb_bridge-30process started with pid [9749] ×2 + 10.95sINFOtf2_web_republisher_node-31process started with pid [9750] ×2 + 10.95sINFOweb_video_server-32process started with pid [9751] ×2 + 10.97sINFOsmoother_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. + 10.97sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 10.97sINFOcomponent_container_isolated-1process started with pid [9584] ×2 + 10.97sINFOstatic_transform_publisher-2process started with pid [9585] ×2 + 10.97sINFOstatic_transform_publisher-3process started with pid [9586] ×2 + 10.97sINFOstatic_transform_publisher-4process started with pid [9587] ×2 + 10.97sINFOodom_qos_relay.py-5process started with pid [9588] ×2 + 10.97sINFOscan_to_scan_filter_chain-6process started with pid [9589] ×2 + 10.97sINFOscan_to_scan_filter_chain-7process started with pid [9590] ×2 + 10.97sINFOros2-9process started with pid [9669] ×2 + 10.97sINFOros2-10process started with pid [9670] ×2 + 10.97sINFOros2-11process started with pid [9671] ×2 + 10.97sINFOros2-12process started with pid [9672] ×2 + 10.97sINFOros2-13process started with pid [9673] ×2 + 10.97sINFOros2-14process started with pid [9674] ×2 + 10.97sINFOros2-15process started with pid [9675] ×2 + 10.97sINFOros2-16process started with pid [9676] ×2 + 10.97sINFOros2-17process started with pid [9677] ×2 + 10.97sINFOros2-18process started with pid [9678] ×2 + 10.97sINFOros2-19process started with pid [9679] ×2 + 10.99sINFOsmoother_serverCreating smoother server + 10.99sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 11.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 11.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 11.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 11.02sINFOlifecycle_manager_localizationCreating + 11.04sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 11.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 11.04sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 11.04sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 11.05sINFOmap_serverConfiguring + 11.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 11.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 11.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 11.09sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 11.09sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 11.09sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 11.09sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 11.09sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 11.09sINFOstatic_transform_publisherfrom 'mj_world' to 'world'[0m ×2 + 11.10sINFOstatic_transform_publisherfrom 'map' to 'odom'[0m ×2 + 11.10sINFOplanner_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. + 11.10sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 11.10sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 11.10sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 11.10sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 11.10sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 11.10sWARNros2_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 + 11.10sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 11.11sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 11.11sINFOplanner_serverCreating + 11.13sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 11.13sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 11.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 11.13sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 11.14sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 11.14sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 11.14sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 11.14sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000280 ms (missed cycles : 4). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000280 ms (missed cycles : 4).[0m ×2 + 11.15sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 11.15sINFOmap_serverActivating + 11.15sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 11.17sINFOglobal_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. + 11.17sINFOglobal_costmap.global_costmapCreating Costmap + 11.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 11.20sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 11.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 11.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 11.21sINFOcontroller_managerReceived robot description from topic. + 11.21sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 11.22sINFOrobot_state_publisherRobot initialized + 11.22sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 11.22sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 11.22sINFOcomponent_container_mtRobot initialized[0m ×2 + 11.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 11.24sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 11.24sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 11.25sINFObehavior_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. + 11.25sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 11.26sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 11.26sINFOlifecycle_manager_localizationServer map_server connected with bond. + 11.26sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 11.26sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 11.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 11.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 11.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 11.32sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 11.32sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 11.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 11.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 11.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 11.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 11.36sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 11.37sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 11.39sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 11.39sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 11.39sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 11.39sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 11.40sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 11.40sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 11.40sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 11.40sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 11.40sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 11.40sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 11.40sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 11.40sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 11.40sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 11.40sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 11.40sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 11.40sINFObt_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. + 11.40sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 11.40sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 11.40sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 11.43sINFObt_navigatorCreating + 11.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 11.44sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 11.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 11.44sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 11.50sINFOwaypoint_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. + 11.50sINFOwaypoint_followerCreating + 11.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 11.52sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 11.52sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 11.52sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 11.57sINFOvelocity_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. + 11.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 11.60sINFOlifecycle_manager_navigationCreating + 11.61sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 11.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 11.63sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 11.63sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 11.63sINFOcontroller_serverConfiguring controller interface + 11.63sINFOcontroller_servergetting progress checker plugins.. + 11.63sINFOcontroller_servergetting goal checker plugins.. + 11.63sINFOcontroller_serverController frequency set to 20.0000Hz + 11.63sINFOlocal_costmap.local_costmapConfiguring + 11.65sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 11.66sWARNlaser_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. + 11.66sWARNlaser_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. + 11.66sWARNscan_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 + 11.67sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 11.70sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 11.70sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 11.71sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 11.75sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 11.75sINFOcontroller_serverController Server has progress_checker progress checkers available. + 11.76sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 11.77sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 11.77sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.77sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 11.77sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 11.78sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.554133 seconds + 11.78sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 11.78sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 11.78sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 11.79sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 11.80sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 11.80sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 11.80sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 11.80sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 11.80sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 11.80sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 11.81sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 11.81sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 11.82sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 11.82sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 11.82sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 11.83sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 11.84sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 11.84sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 11.84sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 11.85sINFOcontroller_serverOptimizer reset ×2 + 11.86sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 11.87sINFOmove_groupLoaded robot model in 0.554133 seconds[0m ×2 + 11.87sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 11.87sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.88sINFOcontroller_serverController Server has FollowPath controllers available. + 11.90sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 11.90sINFOsmoother_serverConfiguring smoother server + 11.92sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 11.93sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 11.95sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 11.95sINFOplanner_serverConfiguring + 11.95sINFOglobal_costmap.global_costmapConfiguring + 11.96sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 11.99sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 11.99sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 11.99sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 11.99sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 12.04sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 12.04sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 12.04sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 12.09sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 12.09sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 12.09sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 12.11sINFOplanner_serverPlanner Server has GridBased planners available. + 12.12sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 12.12sINFObehavior_serverConfiguring + 12.14sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 12.15sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 12.15sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 12.15sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 12.16sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 12.17sINFObehavior_serverConfiguring spin + 12.19sINFObehavior_serverConfiguring backup + 12.20sINFObehavior_serverConfiguring drive_on_heading + 12.21sINFObehavior_serverConfiguring assisted_teleop + 12.23sINFObehavior_serverConfiguring wait + 12.25sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 12.25sINFObt_navigatorConfiguring + 12.26sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 12.27sWARNbt_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 + 12.46sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 12.46sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 12.46sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 12.50sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 12.56sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 12.56sINFOwaypoint_manager_nodeLoaded robot model in 0.475808 seconds[0m ×2 + 12.56sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 12.56sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.59sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 12.59sINFOwaypoint_followerConfiguring + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.022560 ms (missed cycles : 5). + 12.63sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 12.64sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.022560 ms (missed cycles : 5).[0m ×2 + 12.64sINFOvelocity_smootherConfiguring velocity smoother + 12.65sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 12.65sINFOcontroller_serverActivating + 12.65sINFOlocal_costmap.local_costmapActivating + 12.65sINFOlocal_costmap.local_costmapChecking transform + 12.65sINFOlocal_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 + 12.69sERRORmove_group.moveit.ros.robot_model_loaderCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 12.69sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 13.01sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 13.01sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 13.01sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 13.01sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 13.26sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 13.27sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692101 ms (missed cycles : 3). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692101 ms (missed cycles : 3).[0m ×2 + 13.84sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 13.84sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 13.84sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 13.85sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 13.85sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 13.85sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 13.85sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 13.85sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 13.86sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 13.86sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 13.86sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 13.86sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 13.86sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 13.87sINFOmove_groupStarting planning scene monitor[0m ×2 + 13.87sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 13.87sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 13.87sINFOmove_groupListening to '/planning_scene'[0m ×2 + 13.87sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 13.88sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 13.88sINFOmove_groupListening to 'collision_object'[0m ×2 + 13.88sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 13.89sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 14.12sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 14.12sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 14.13sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 14.33sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 14.33sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 14.34sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 14.34sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 14.34sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 14.34sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 14.34sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 14.34sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 14.34sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 14.34sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 14.34sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 14.34sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 14.34sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 14.34sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 14.34sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 14.34sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 14.34sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 14.34sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 14.34sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 14.34sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 14.34sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 14.34sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 14.34sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 14.36sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 14.36sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 14.36sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 14.52sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 14.52sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 14.52sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 14.52sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 14.53sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e + 14.53sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e [0m ×2 + 14.56sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 14.56sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 14.56sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 14.56sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 14.57sINFOplatform_velocity_controllerconfigure successful + 14.57sINFOros2_control_nodeconfigure successful[0m ×6 + 14.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 14.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 14.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 14.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 14.58sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 14.58sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 14.65sINFOlocal_costmap.local_costmapstart + 14.75sWARNcontroller_serverParameter controller_server.verbose not found + 14.75sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 14.76sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868603 ms (missed cycles : 2). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868603 ms (missed cycles : 2).[0m ×2 + 14.86sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 14.86sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 14.86sINFOsmoother_serverActivating + 14.86sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 14.89sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 14.89sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 14.89sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 14.89sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 14.92sINFOros2-12process has finished cleanly [pid 9672] ×2 + 14.97sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 14.97sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 14.97sINFOplanner_serverActivating + 14.97sINFOglobal_costmap.global_costmapActivating + 14.97sINFOglobal_costmap.global_costmapChecking transform + 14.97sINFOglobal_costmap.global_costmapstart + 15.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 15.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 15.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 15.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 15.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 15.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 15.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 15.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 15.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 15.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 15.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 15.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 15.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 15.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 15.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 15.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 15.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 15.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 15.00sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 15.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 15.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 15.02sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 15.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 15.02sINFOstreaming_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) + 15.02sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 15.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 15.02sINFOcomponent_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 + 15.02sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e + 15.03sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e [0m ×2 + 15.08sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 15.08sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 15.08sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 15.08sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 15.09sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 15.09sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 15.09sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 15.11sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 15.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 15.12sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 15.31sINFOobjective_server_node[2026-08-19 20:15:37.837] [moveit_pro_license] [info] ×2 + 15.31sINFOobjective_server_node************************************************* ×4 + 15.31sINFOobjective_server_node* MoveIt Pro License ×2 + 15.31sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 15.47sINFOros2_control_node[2026-08-19 20:15:38.001] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 15.47sINFOros2_control_node[2026-08-19 20:15:38.004] [info] Controller state will be published at 10 Hz. ×2 + 15.48sINFOros2_control_node[2026-08-19 20:15:38.005] [info] VelocityForceController 'on_configure' succeeded. ×2 + 15.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 15.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 15.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 15.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 15.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 15.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 15.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 15.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 15.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 15.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 15.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 15.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 15.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 15.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 15.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 15.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 15.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 15.49sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 15.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 15.49sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 15.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 15.51sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 15.51sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 15.72sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 15.72sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 15.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 15.72sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 15.74sWARNcomponent_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 + 15.77sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 15.77sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×212 + 15.77sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 15.79sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×18 + 15.79sINFOobjective_server_nodeLoaded robot model in 0.377178 seconds[0m ×2 + 15.79sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 15.79sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.83sINFOros2-17process has finished cleanly [pid 9677] ×2 + 15.84sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 15.84sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 15.84sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 15.84sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 15.84sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e + 15.84sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e [0m ×2 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862662 ms (missed cycles : 2). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862662 ms (missed cycles : 2).[0m ×2 + 15.97sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 15.97sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 15.97sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 15.97sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 15.97sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 15.97sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 15.97sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 15.97sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 15.97sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 15.97sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 15.97sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 15.97sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 15.97sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 15.98sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 15.98sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 16.02sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 16.02sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 16.10sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 16.10sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 16.10sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 16.12sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 16.12sINFOcomponent_container_mtLoaded robot model in 0.371197 seconds[0m ×2 + 16.12sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 16.12sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.13sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 16.13sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 16.13sINFObehavior_serverActivating + 16.13sINFObehavior_serverActivating spin + 16.13sINFObehavior_serverActivating backup + 16.13sINFObehavior_serverActivating drive_on_heading + 16.13sINFObehavior_serverActivating assisted_teleop + 16.13sINFObehavior_serverActivating wait + 16.13sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 16.23sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 16.23sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 16.23sINFObt_navigatorActivating + 16.26sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.32sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 16.34sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 16.34sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 16.34sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e + 16.34sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 16.34sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 16.34sINFOobjective_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 + 16.34sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 16.34sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e [0m ×2 + 16.36sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 16.36sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 16.36sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 16.36sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 16.36sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 16.36sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 16.36sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 16.37sINFOros2-15process has finished cleanly [pid 9675] ×2 + 16.43sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 16.43sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 16.43sINFOwaypoint_followerActivating + 16.43sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 16.44sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 16.44sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 16.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 16.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 16.46sINFOplatform_velocity_controller_nav2configure successful + 16.51sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 16.51sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 16.54sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 16.54sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 16.54sINFOvelocity_smootherActivating + 16.54sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 16.64sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 16.64sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 16.64sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 16.72sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 16.72sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 16.84sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 16.84sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 16.85sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 16.85sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 16.85sINFOros2-14process has finished cleanly [pid 9674] ×2 + 16.85sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e + 16.85sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e [0m ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021090 ms (missed cycles : 2). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021090 ms (missed cycles : 2).[0m ×2 + 16.90sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 16.90sINFOmove_groupMoveGroup debug mode is ON + 16.90sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 16.90sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 16.91sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 16.92sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 16.92sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 16.94sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 16.94sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 16.94sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 16.94sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 16.94sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 16.94sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 16.94sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 16.94sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 16.96sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 16.96sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 16.96sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 16.96sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 16.98sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 16.98sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 17.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 17.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 17.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 17.09sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 17.09sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 17.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 17.11sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 17.12sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 17.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 17.13sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 17.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 17.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 17.32sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 17.32sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 17.32sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 17.32sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 17.32sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e + 17.32sINFOros2-11process has finished cleanly [pid 9671] ×2 + 17.33sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e [0m ×2 + 17.34sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 17.34sINFOmove_group ×8 + 17.34sINFOmove_group******************************************************** ×4 + 17.34sINFOmove_group* MoveGroup using: ×2 + 17.34sINFOmove_group* - apply_planning_scene_service ×2 + 17.34sINFOmove_group* - clear_octomap_service ×2 + 17.34sINFOmove_group* - ExecuteTaskSolution ×2 + 17.34sINFOmove_group* - get_group_urdf ×2 + 17.34sINFOmove_group* - load_geometry_from_file ×2 + 17.34sINFOmove_group* - get_planning_scene_service ×2 + 17.34sINFOmove_group* - kinematics_service ×2 + 17.34sINFOmove_group* - save_geometry_to_file ×2 + 17.34sINFOmove_group* - GetPlanningGroups ×2 + 17.34sINFOmove_group* - SetActiveControllerService ×2 + 17.34sINFOmove_group* - URDFPlanningSceneCapability ×2 + 17.34sINFOmove_group[0m ×2 + 17.34sINFOmove_group[92mYou can start planning now![0m ×2 + 17.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 17.37sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 17.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 17.39sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 17.39sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 17.39sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 17.39sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 17.40sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 17.40sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 17.40sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 17.40sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 17.90sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 17.90sINFOcontroller_managerLoading controller 'vacuum_gripper' + 17.90sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 17.90sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 17.90sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e + 17.90sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e [0m ×2 + 17.92sINFOros2-10process has finished cleanly [pid 9670] ×2 + 17.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855819 ms (missed cycles : 6). + 17.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855819 ms (missed cycles : 6).[0m ×2 + 17.94sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 17.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 17.97sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 17.97sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 17.97sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 17.97sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 17.97sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 17.98sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 17.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 17.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 17.99sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 17.99sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 18.32sINFOros2-13process has finished cleanly [pid 9673] ×2 + 18.36sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 18.36sINFOcontroller_managerLoading controller 'velocity_force_controller' + 18.36sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e + 18.36sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 18.36sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 18.37sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e [0m ×2 + 18.44sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 18.44sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 18.44sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 18.44sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 18.89sINFOros2_control_node[2026-08-19 20:15:41.414] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 18.89sINFOros2_control_node[2026-08-19 20:15:41.416] [info] Controller state will be published at 10 Hz. ×2 + 18.89sINFOros2_control_node[2026-08-19 20:15:41.417] [info] VelocityForceController 'on_configure' succeeded. ×2 + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493354 ms (missed cycles : 3). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493354 ms (missed cycles : 3).[0m ×2 + 19.24sINFOros2-16process has finished cleanly [pid 9676] ×2 + 19.27sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 19.27sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 19.27sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 19.27sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 19.36sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e + 19.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e [0m ×2 + 19.42sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 19.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 19.44sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 19.44sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 19.87sINFOros2_control_node[2026-08-19 20:15:42.397] [info] Controller state will be published at 20 Hz. ×2 + 19.87sINFOros2_control_node[2026-08-19 20:15:42.398] [info] JointVelocityController 'on_configure' succeeded. ×2 + 20.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.090449 ms (missed cycles : 9). + 20.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.090449 ms (missed cycles : 9).[0m ×2 + 20.22sINFOros2-19process has finished cleanly [pid 9679] ×2 + 20.24sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 20.24sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 20.24sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 20.24sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 20.24sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e + 20.24sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e [0m ×2 + 20.30sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 20.30sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.30sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 20.30sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 20.31sINFOforce_torque_sensor_broadcasterconfigure successful + 20.31sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 20.31sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 20.32sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 20.32sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.64sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 20.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 20.65sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e + 20.65sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 20.65sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 20.65sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbvrtizg --params-file /tmp/launch_params_2nkzc2u2 --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_tqx1enc6 --params-file /tmp/launch_params_i_1ayv1e [0m ×2 + 20.69sINFOros2-9process has finished cleanly [pid 9669] ×2 + 20.71sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 20.71sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 20.71sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 20.71sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 21.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910634 ms (missed cycles : 2). + 21.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910634 ms (missed cycles : 2).[0m ×2 + 21.18sINFOros2_control_node[2026-08-19 20:15:43.706] [info] Controller state will be published at 20 Hz. ×2 + 21.18sINFOros2_control_node[2026-08-19 20:15:43.707] [info] JointVelocityController 'on_configure' succeeded. ×2 + 21.52sINFOros2-18process has finished cleanly [pid 9678] ×2 + 22.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157922 ms (missed cycles : 4). + 22.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157922 ms (missed cycles : 4).[0m ×2 + 23.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224859 ms (missed cycles : 2). + 23.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224859 ms (missed cycles : 2).[0m ×2 + 24.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631144 ms (missed cycles : 2). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631144 ms (missed cycles : 2).[0m ×2 + 24.37sINFOros2_control_nodeMuJoCo sim: 2.90% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 25.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315764 ms (missed cycles : 2). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315764 ms (missed cycles : 2).[0m ×2 + 26.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962326 ms (missed cycles : 3). + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962326 ms (missed cycles : 3).[0m ×2 + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674064 ms (missed cycles : 4). + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674064 ms (missed cycles : 4).[0m ×2 + 28.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179089 ms (missed cycles : 2). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179089 ms (missed cycles : 2).[0m ×2 + 29.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033742 ms (missed cycles : 4). + 29.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033742 ms (missed cycles : 4).[0m ×2 + 30.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433860 ms (missed cycles : 3). + 30.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433860 ms (missed cycles : 3).[0m ×2 + 31.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.173752 ms (missed cycles : 6). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.173752 ms (missed cycles : 6).[0m ×2 + 32.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854631 ms (missed cycles : 2). + 32.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854631 ms (missed cycles : 2).[0m ×2 + 33.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034445 ms (missed cycles : 2). + 33.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034445 ms (missed cycles : 2).[0m ×2 + 34.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734022 ms (missed cycles : 2). + 34.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734022 ms (missed cycles : 2).[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508058 ms (missed cycles : 5). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508058 ms (missed cycles : 5).[0m ×2 + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799004 ms (missed cycles : 2). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799004 ms (missed cycles : 2).[0m ×2 + 37.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843827 ms (missed cycles : 3). + 37.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843827 ms (missed cycles : 3).[0m ×2 + 38.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206661 ms (missed cycles : 2). + 38.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206661 ms (missed cycles : 2).[0m ×2 + 39.78sWARNobjective_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 + 39.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758557 ms (missed cycles : 3). + 39.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758557 ms (missed cycles : 3).[0m ×2 + 40.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948384 ms (missed cycles : 3). + 40.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948384 ms (missed cycles : 3).[0m ×2 + 42.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676024 ms (missed cycles : 2). + 42.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676024 ms (missed cycles : 2).[0m ×2 + 43.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745380 ms (missed cycles : 4). + 43.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745380 ms (missed cycles : 4).[0m ×2 + 44.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173372 ms (missed cycles : 4). + 44.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173372 ms (missed cycles : 4).[0m ×2 + 45.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984456 ms (missed cycles : 3). + 45.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984456 ms (missed cycles : 3).[0m ×2 + 46.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101182 ms (missed cycles : 4). + 46.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.101182 ms (missed cycles : 4).[0m ×2 + 47.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668007 ms (missed cycles : 2). + 47.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668007 ms (missed cycles : 2).[0m ×2 + 48.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779103 ms (missed cycles : 4). + 48.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779103 ms (missed cycles : 4).[0m ×2 + 49.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021251 ms (missed cycles : 2). + 49.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021251 ms (missed cycles : 2).[0m ×2 + 50.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960315 ms (missed cycles : 2). + 50.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960315 ms (missed cycles : 2).[0m ×2 + 51.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961942 ms (missed cycles : 3). + 51.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961942 ms (missed cycles : 3).[0m ×2 + 52.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207461 ms (missed cycles : 2). + 52.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207461 ms (missed cycles : 2).[0m ×2 + 53.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.273808 ms (missed cycles : 5). + 53.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.273808 ms (missed cycles : 5).[0m ×2 + 54.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3). + 54.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3).[0m ×2 + 55.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 55.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 57.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 57.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 57.36sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 57.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 57.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 58.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 58.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 58.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 58.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 58.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 58.05sINFOmove_groupClearing octomap...[0m ×2 + 58.05sINFOmove_groupOctomap cleared.[0m ×2 + 58.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 58.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 58.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 59.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 59.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 59.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 59.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 59.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 59.93sINFOobjective_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 + 59.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 59.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 59.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 59.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 59.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 59.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 59.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 59.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 59.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 59.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 59.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 59.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 59.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 59.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 60.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 60.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 60.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 60.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 60.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 60.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 60.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 60.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 60.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 60.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 5.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 6.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.09sINFOjoint_trajectory_controllerReceived new action goal + 7.09sINFOjoint_trajectory_controllerAccepted new action goal + 7.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.10sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 5.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | skipped |
No ROS log lines in this test's time window. | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 5.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 5.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 5.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102677 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 5.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625609 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625609 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517739 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010662 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098443 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787170580.57536030 seconds. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.19sINFOmove_groupClearing octomap...[0m ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787170580.58558345 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787170581.14618301 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787170581.16631913 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811484 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787170581.72194433 seconds. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787170581.87268233 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787170582.44834805 seconds. ×3 + 4.07sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787170582.49846387 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044385 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787170583.05505276 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060399 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||